@inproceedings{c2747dfbc7934fc88930c14988518fd4,
title = "ElasticFusion: Dense SLAM without a pose graph",
abstract = "We present a novel approach to real-time dense visual SLAM. Our system is capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments explored using an RGB-D camera in an incremental online fashion, without pose graph optimisation or any post-processing steps. This is accomplished by using dense frame-to-model camera tracking and windowed surfel-based fusion coupled with frequent model refinement through non-rigid surface deformations. Our approach applies local model-to-model surface loop closure optimisations as often as possible to stay close to the mode of the map distribution, while utilising global loop closure to recover from arbitrary drift and maintain global consistency.",
author = "Thomas Whelan and Stefan Leutenegger and Salas-Moreno, {Renato F.} and Ben Glocker and Davison, {Andrew J.}",
note = "Publisher Copyright: {\textcopyright} 2015, MIT Press Journals. All rights reserved.; 2015 Robotics: Science and Systems Conference, RSS 2015 ; Conference date: 13-07-2015 Through 17-07-2015",
year = "2015",
doi = "10.15607/RSS.2015.XI.001",
language = "English",
series = "Robotics: Science and Systems",
publisher = "MIT Press Journals",
editor = "Jonas Buchli and David Hsu and Kavraki, {Lydia E.}",
booktitle = "Robotics",
}