Multi-resolution surfel maps for efficient dense 3D modeling and tracking

► Multi-resolution surfel maps as compact RGB-D image representation. ► Maps support rapid extraction from images and fast registration on CPU. ► Object and scene reconstruction through on-line graph optimization of key view poses. ► Real-time object tracking from a wide range of view angles and distances. ► State-of-the-art results of image registration, SLAM, and tracking on benchmark datasets.