[Retracted] A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes

Algorithm 2

Regional point cloud stack.

	Procedure Regional point cloud stack
	Submap ⟵ SubmapMessage
	for i in size of (Submap), do
	if position(Submap[i]) is changed and Submap[i] is not new Submap then
	RegionalPointcloudUnfinish [IndexInRegional(i)]
	⟵Equation (25) (RegionalPointcloudUnfinish [IndexInRegional(i)], NewPosition(Submap[i]))
	end if
	else if Submap[i] is new Submap then
	NewPointcloud ⟵ TimeSynchronized(Submap)
	TransformedPointCloud ⟵ Equation (23) (NewPointcloud)
	ShiftedPointcloud ⟵ Equation (25) (TransformedPointCloud, position(Submap[i]))
	RegionalPointcloudUnfinish.pushback(ShiftedPointcloud)
	ResidualPointcloud ⟵ ShiftedPointcloud + ResidualPointcloud
	if sizeof(RegionalPointcloudUnfinish) ≥ threshold then
	for j in range(threshold)
	RegionAllPointcloud ⟵ RegionalPointcloudUnfinish[j] + RegionAllPointcloud
	end for
	RegionPointcloud.pushback(RegionAllPointcloud)
	RegionalPointcloudUnfinish.clear()
	ResidualPointcloud.clear()
	return RegionAllPointcloud
	else if
	return RegionAllPointcloud + ResidualPointcloud
	end if
	end if
	end if