Iterative Closest Point (ICP) algorithm：Besl, P., McKay, N.: A method for registration of 3-D shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14(2), 239–256 (1992)
Sparse Bundle Adjustment (SBA) ：Lourakis, M., Argyros, A.: SBA: a software package for generic sparse bundle adjustment. ACM Trans. Math. Softw. (TOMS) 36(1), 2 (2009) Sparse Bundle Adjustment (SBA) [76] was applied in order to obtain a globally consistent map.
SLAM approaches have been categorized into filtering approaches (such as EKF-SLAM [106] and particle filter based SLAM [81]) and smoothing approaches (such as GraphSLAM [111], RGBD SLAM [56], Smoothing and Mapping [30]).
相机标定：There are a number of open source software available for estimating the camera parameters such as theMATLAB camera calibration toolbox [15] and [100] and the C/C++ OpenCV calibration toolbox [16].