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Comparison of the reconstruction results on the third-floor sequence. (a) is produced by Kintinuous [36]. The surfaces generated around the loop closure are misaligned as displayed in (d). (b) is generated by BundleFusion [33]. BundleFusion failed and produced an unsatisfactory result. (c) is produced by InfiniTAM v3 [39]. The system also failed. (e) is yielded by ElasticFusion [11,12]. (f) is produced by our system.
