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isprsannals II 3 W5 491 2015

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Figure 2: Combination of Kinect and IMU sensors.
Figure 3: Meshes for the office after loop closure. The upper pic-ture shows the whole loop of the office and the lower two viewsrepresent the details of the two small loops
Figure 6: Trajectories projected to X-Z plane of the depth cameraframe at the start of the corridor test
Figure 8: Trajectories projected to X-Y plane of the depth cameraframe at the start of the stairway test

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