Szukana fraza: [Abstract = "While the fast, RGB\-D\-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB\-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front\-end for a pose\-based simultaneous localization and mapping solution."]

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