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

Table 1

Errors occurred in time synchronization.

Objects that synchronize with RGBD	IMU	Submap
Theoretical time error (ms)	7	20
Theoretical distance error (cm)	1.4	4
Actual time error (ms)	<1	>100
Actual distance error (cm)	<0.2	>20