H. Afzal, D. Aouada, D. Fofi, B. Mirbach, and B. Ottersten, RGB-D Multi-view System Calibration for Full 3D Scene Reconstruction, Pattern Recognition (ICPR), 2014 22nd International Conference on, pp.2459-2464, 2014.

D. Alexiadis, G. Kordelas, K. Apostolakis, J. Agapito, J. Vegas et al., Reconstruction for 3D immersive virtual environments, Image Analysis for Multimedia Interactive Services (WIAMIS), 2012 13th International Workshop on, pp.1-4, 2012.

K. Amplianitis, M. Adduci, and R. Reulke, Calibration of a Multiple Stereo and Rgb-D Camera System for 3d Human Tracking. ISPRS -International Archives of the Photogrammetry, Remote Sensing and, Spatial Information Sciences, issue.1, pp.7-14, 2014.

K. Berger, Computer Vision and Machine Learning with RGB-D Sensors, A State of the Art Report on Multiple RGB-D Sensor Research and on Publicly Available RGB-D Datasets, pp.27-44, 2014.

K. Berger, K. Ruhl, M. Albers, Y. Schroder, A. Scholz et al., The capturing of turbulent gas flows using multiple Kinects, Computer Vision Workshops (ICCV Workshops, pp.1108-1113, 2011.

K. Berger, K. Ruhl, C. Brümmer, Y. Schröder, A. Scholz et al., Markerless Motion Capture using multiple Color-Depth Sensors, Proc. Vision, Modeling and Visualization (VMV), pp.317-324, 2011.

P. J. Besl and N. D. Mckay, A method for registration of 3-d shapes, IEEE Trans. Pattern Anal. Mach. Intell, vol.14, issue.2

J. Bougouet, , 2007.

M. Dou and H. Fuchs, Temporally enhanced 3D capture of room-sized dynamic scenes with commodity depth cameras, Virtual Reality (VR), pp.39-44, 2014.

M. Dou, L. Guan, J. Frahm, and H. Fuchs, Exploring High-Level Plane Primitives for Indoor 3D Reconstruction with a Hand-held RGB-D Camera, Computer Vision -ACCV 2012

, Revised Selected Papers, Part II, 2012 International Workshops, pp.94-108, 2012.

M. Dou, J. Taylor, H. Fuchs, A. Fitzgibbon, and S. Izadi, 3D Scanning Deformable Objects With a Single RGBD Sensor, 2015.

P. Fankhauser, M. Bloesch, D. Rodriguez, R. Kaestner, M. Hutter et al., Kinect v2 for Mobile Robot Navigation: Evaluation and Modeling, IEEE International Conference on Advanced Robotics (ICAR), 2015.

T. Han, C. Xu, R. Loxton, and L. Xie, Bi-objective optimization for robust RGB-D visual odometry, Control and Decision Conference (CCDC), pp.1837-1844, 2015.

R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, second edn, p.521540518, 2004.

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, International Journal of Robotics Research (IJRR), issue.5, pp.647-663, 2012.

B. Kainz, S. Hauswiesner, G. Reitmayr, M. Steinberger, R. Grasset et al., OmniKinect: real-time dense volumetric data acquisition and applications, Proceedings of the 18th ACM symposium on Virtual reality software and technology, VRST '12, pp.25-32, 2012.


C. Kuster, T. Popa, C. Zach, C. Gotsman, and M. Gross, FreeCam: A Hybrid Camera System for Interactive Free-Viewpoint Video, Proceedings of Vision, Modeling, and Visualization (VMV), 2011.

A. Maimone and H. Fuchs, Encumbrance-free telepresence system with real-time 3D capture and display using commodity depth cameras, 10th IEEE International Symposium on, pp.137-146, 2011.
DOI : 10.1109/ismar.2011.6092379

J. Michot, A. Bartoli, and F. Gaspard, Bi-Objective Bundle Adjustment With Application to Multi-Sensor SLAM, 3DPVT'10 -Int'l Symp. on 3D Data Processing, Visualization and Transmission, 2010.

S. Miller, A. Teichman, and S. Thrun, Unsupervised extrinsic calibration of depth sensors in dynamic scenes, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp.2695-2702, 2013.

J. Moré, The Levenberg-Marquardt algorithm: Implementation and theory, Numerical Analysis, vol.630, pp.105-116

S. Berlin and /. Heidelberg, , 1978.

I. J. Myung, Tutorial on maximum likelihood estimation, Journal of Mathematical Psychology, vol.47, issue.1, pp.90-100, 2003.
DOI : 10.1016/s0022-2496(02)00028-7

M. Nakazawa, I. Mitsugami, Y. Makihara, H. Nakajima, H. Habe et al., Dynamic scene reconstruction using asynchronous multiple Kinects, Pattern Recognition (ICPR), 2012 21st International Conference on, pp.469-472, 2012.

R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim et al., KinectFusion: Real-time Dense Surface Mapping and Tracking, Proceedings of the 2011 10th IEEE International Symposium on Mixed and Augmented Reality, pp.127-136, 2011.
DOI : 10.1109/ismar.2011.6162880

URL : http://www.doc.ic.ac.uk/%7Eajd/Publications/newcombe_etal_ismar2011.pdf

A. Nüchter, J. Elseberg, P. Schneider, and D. Paulus, Study of parameterizations for the rigid body transformations of the scan registration problem, Computer Vision and Image Understanding, vol.114, issue.8, pp.963-980, 2010.

P. Palasek, H. Yang, Z. Xu, N. Hajimirza, E. Izquierdo et al., A flexible calibration method of multiple Kinects for 3D human reconstruction, Multimedia Expo Workshops (ICMEW), 2015 IEEE International Conference on, pp.1-4, 2015.

B. Penelle, A. Schenkel, and N. Warzee, Geometrical 3D reconstruction using real-time RGB-D cameras, 3D Imaging (IC3D), 2011 International Conference on, pp.1-8, 2011.
DOI : 10.1109/ic3d.2011.6584368

S. J. Prince, Computer Vision: Models, Learning, and Inference, 2012.

V. Rabaud, Vincent's Structure from Motion Toolbox

A. Segal, D. Haehnel, and S. Thrun, Generalized-ICP, Proceedings of Robotics: Science and Systems, 2009.
DOI : 10.15607/rss.2009.v.021

URL : https://doi.org/10.15607/rss.2009.v.021

J. Smisek, M. Jancosek, and T. Pajdla, 3D with Kinect. In: ICCV Workshops, pp.1154-1160, 2011.
DOI : 10.1007/978-1-4471-4640-7_1

J. Sturm, E. Bylow, F. Kahl, and D. Cremers, CopyMe3D: Scanning and printing persons in 3D, German Conference on Pattern Recognition (GCPR), 2013.
DOI : 10.1007/978-3-642-40602-7_43

URL : http://lup.lub.lu.se/search/ws/files/2276325/4249537.pdf

D. Teng, J. C. Bazin, T. Martin, C. Kuster, J. Cai et al., Registration of Multiple RGBD Cameras via Local Rigid Transformations, IEEE International Conference on Multimedia & Expo, 2014.

B. Triggs, P. Mclauchlan, R. Hartley, and A. Fitzgibbon, Bundle Adjustment -A Modern Synthesis, VISION ALGORITHMS: THEORY AND PRACTICE, pp.298-375
DOI : 10.1007/3-540-44480-7_21

URL : https://hal.archives-ouvertes.fr/inria-00548290

T. Tykkala, C. Audras, and A. Comport, Direct Iterative Closest Point for real-time visual odometry, Computer Vision Workshops (ICCV Workshops, pp.2050-2056, 2011.
DOI : 10.1109/iccvw.2011.6130500

URL : https://hal.archives-ouvertes.fr/hal-01357373

R. Yang, Y. H. Chan, R. Gong, M. Nguyen, A. Strozzi et al., Multi-Kinect scene reconstruction: Calibration and depth inconsistencies, Image and Vision Computing New Zealand (IVCNZ), pp.47-52, 2013.
DOI : 10.1109/ivcnz.2013.6726991

Q. Zhang, Extrinsic calibration of a camera and laser range finder, IEEE International Conference on Intelligent Robots and Systems (IROS, p.2004, 2004.

Z. Zhang, Flexible camera calibration by viewing a plane from unknown orientations, The Proceedings of the Seventh IEEE International Conference on, vol.1, pp.666-673, 1999.

, Rearranging (19), we get the parameter update rule as