author = "Fernandes, Cl{\'a}udio dos Santos and Nascimento, Erickson Rangel 
                         do and Campos, Mario Fernando Montenegro",
          affiliation = "UFMG and UFMG and UFMG",
                title = "Visual and Inertial Data Fusion for Globally Consistent Point 
                         Cloud Registration",
            booktitle = "Proceedings...",
                 year = "2013",
               editor = "Boyer, Kim and Hirata, Nina and Nedel, Luciana and Silva, 
         organization = "Conference on Graphics, Patterns and Images, 26. (SIBGRAPI)",
            publisher = "IEEE Computer Society",
              address = "Los Alamitos",
             keywords = "Point Cloud Registration, Inertial Sensing, SLAM.",
             abstract = "This work addresses the problem of aligning a set of point clouds 
                         acquired by an RGB-D sensor. To achieve this, we propose the 
                         fusion of RGB-D data with the orientation provided by a MARG 
                         (Magnetic, Angular Rate and Gravity) sensor, a combination that 
                         hasn't been extensively explored in the literature. Our 
                         methodology uses MARG data both in the coarse pairwise alignment 
                         between point clouds and in the loop closure detection between key 
                         frames. In our experiments, we were able to align the walls of a 
                         room with dimensions 9.84m x 7.13m. Our analysis shows us that 
                         MARG data helps to improve the alignment quality.",
  conference-location = "Arequipa, Peru",
      conference-year = "Aug. 5-8, 2013",
             language = "en",
           targetfile = "PID2854791.pdf",
        urlaccessdate = "2020, Nov. 24"