Aiming at problem of small reconstruction range

lack of effective relocalization strategy and cumulative error in Kinect Fusion algorithm

propose a 3 D reconstruction method based on random fern coding. The camera trajectory loop closures is detected by using the random fern encoding to reduce the accumulated error caused by long time reconstruction. By retrieval similarity key frames

relocate camera pose estimation after failure. By combining with Infini TAM

range of reconstruction are increased. A comparison experiment is carried out using the RGB-D SLAM dataset. Experimental results show that the proposed method can greatly increase reconstruction range

effectively relocate the camera pose after failure

and reduce accumulated error

which makes the 3 D reconstruction process more stable and obtains camera pose more accurately.