摘要：In this paper, a micro SLAM system based on ORB features for RGB-D cameras has been proposed. With only a RGB-D sensor, this method can be applied in small environment for localization and mapping. Furthermore, the task of 3D reconstruction can also be accomplished by using the approach. The pose graph based on Bundle Adjustment is adopted for reducing the estimation error. In order to further speed up computing to meet the requirement of real-time, we have proposed the piecewise optimization strategy. The approach is evaluated on public benchmark datasets. Compared with several state-of-the-art scheme, this method has proven to work well in these environments.
