@ARTICLE{GR_TRO2019, author={L. {Han} and L. {Xu} and D. {Bobkov} and E. {Steinbach} and L. {Fang}}, journal={IEEE Transactions on Robotics}, title={Real-Time Global Registration for Globally Consistent RGB-D SLAM}, year={2019}, volume={35}, number={2}, pages={498-508}, keywords={cameras;graph theory;image registration;mobile robots;optimisation;pose estimation;SLAM (robots);statistical analysis;complexity bottleneck;global point cloud registration problem;three-dimensional point feature;linear component;SLAM;high efficient pose graph optimization;pose estimation;RGB-D;simultaneous localization and mapping;camera localization;nonlinear component;second-order statistics;CPU computing;Cameras;Simultaneous localization and mapping;Optimization;Real-time systems;Complexity theory;Visualization;Three-dimensional displays;Simultaneous localization and mapping;Image reconstruction;Autonomous vehicles}, doi={10.1109/TRO.2018.2882730}, ISSN={1941-0468}, month={April},}