P. Besl and N. Mckay, A method for registration of 3-D shapes, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.14, issue.2, pp.239-256, 1992.
DOI : 10.1109/34.121791

J. Blanco, A tutorial on se(3) transformation parameterizations and on-manifold optimization, 2010.

Y. Chen and G. Medioni, Object modelling by registration of multiple range images, Image and Vision Computing, vol.10, issue.3, pp.145-155, 1992.
DOI : 10.1016/0262-8856(92)90066-C

F. Dellaert and R. Collins, Fast Image-based tracking by selective pixel integration, Proc. of the ICCV Workshop on frame-rate vision, 1999.

F. Fraundorfer and D. Scaramuzza, Visual Odometry : Part II: Matching, Robustness, Optimization, and Applications, IEEE Robotics & Automation Magazine, vol.19, issue.2, pp.78-90, 2012.
DOI : 10.1109/MRA.2012.2182810

M. Harville, A. Rahimi, T. Darrell, G. Gordon, and J. Woodfill, 3D pose tracking with linear depth and brightness constraints, Proceedings of the Seventh IEEE International Conference on Computer Vision, pp.206-213, 1999.
DOI : 10.1109/ICCV.1999.791219

P. Henry, M. Krainin, E. Herbst, X. Ren, and D. Fox, RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments, The International Journal of Robotics Research, vol.1883, issue.1, pp.31647-663, 2012.
DOI : 10.1023/A:1008854305733

P. Huber, Robust Statistics, 1981.
DOI : 10.1002/0471725250

C. Kerl, J. Sturm, C. , and D. , Dense visual SLAM for RGB-D cameras, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
DOI : 10.1109/IROS.2013.6696650

A. Kim and R. Eustice, Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency, IEEE Transactions on Robotics, vol.29, issue.3, pp.719-733, 2013.
DOI : 10.1109/TRO.2012.2235699

K. Konolige and M. Agrawal, FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping, IEEE Transactions on Robotics, vol.24, issue.5, 2008.
DOI : 10.1109/TRO.2008.2004832

K. Konolige and J. Bowman, Towards lifelong visual maps, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5354121
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.329.6539

H. Kretzschmar, G. Grisetti, and C. Stachniss, Lifelong Map Learning for Graph-based SLAM in??Static??Environments, KI - K??nstliche Intelligenz, vol.23, issue.78, pp.24199-206, 2010.
DOI : 10.1007/s13218-010-0034-2

W. Lui, T. Tang, T. Drummond, L. , and W. , Robust egomotion estimation using ICP in inverse depth coordinates, 2012 IEEE International Conference on Robotics and Automation, 2012.
DOI : 10.1109/ICRA.2012.6225354

Y. Ma, S. Soatto, J. Ko?ecká, and S. S. Sastry, An Invitation to 3-D Vision, 2004.
DOI : 10.1007/978-0-387-21779-6

M. Meilland and A. Comport, Simultaneous superresolution tracking and mapping, IEEE Intl. Conf. on Robotics and Automation, 2013.
URL : https://hal.archives-ouvertes.fr/hal-01357366

M. Meilland, A. Comport, R. , and P. , A spherical robot-centered representation for urban navigation, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010.
DOI : 10.1109/IROS.2010.5650380
URL : https://hal.archives-ouvertes.fr/hal-01357375

M. Meilland, A. I. Comport, R. , and P. , Dense visual mapping of large scale environments for realtime localisation, IEEE International Conference on Intelligent Robots and Systems, pp.4242-4248, 2011.
URL : https://hal.archives-ouvertes.fr/hal-01357369

R. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim et al., KinectFusion: Real-time dense surface mapping and tracking, 2011 10th IEEE International Symposium on Mixed and Augmented Reality, 2011.
DOI : 10.1109/ISMAR.2011.6092378
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.221.100

A. Rahimi, L. Morency, D. , and T. , Reducing drift in parametric motion tracking, Proceedings Eighth IEEE International Conference on Computer Vision. ICCV 2001, 2001.
DOI : 10.1109/ICCV.2001.937535

E. Royer, M. Lhuillier, M. , D. , J. et al., Monocular Vision for Mobile Robot Localization and Autonomous Navigation, International Journal of Computer Vision, vol.32, issue.1, pp.237-260, 2007.
DOI : 10.1007/s11263-006-0023-y

H. Strasdat, J. Montiel, and A. Davison, Scale Drift-Aware Large Scale Monocular SLAM, Robotics: Science and Systems VI, 2010.
DOI : 10.15607/RSS.2010.VI.010
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.165.7975

T. Tykkälä, C. Audras, and A. Comport, Direct Iterative Closest Point for real-time visual odometry, 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops), 2011.
DOI : 10.1109/ICCVW.2011.6130500

T. Tykkälä, H. Hartikainen, A. Comport, and J. And-kämäräinen, RGB-D tracking and reconstruction for TV broadcasts, Int. Conf. on Computer Vision Theory and Applications (VISAPP), 2013.

Q. Wang, W. Zhang, and X. Tang, Real-Time Bayesian 3-D Pose Tracking, IEEE Transactions on Circuits and Systems for Video Technology, pp.1533-1541, 2006.
DOI : 10.1109/TCSVT.2006.885727

Z. Zhang, On local matching of free-form curves, Proc. of British Machine Vision Conference, BMVC, pp.347-356, 1992.