This paper presents a novel RGB-D 3D reconstruction algorithm for the indoor environment. The method can produce globally-consistent 3D maps for potential GIS applications. As the consumer RGB-D camera provides a noisy depth image. the proposed algorithm decouples the rotation and translation for a more robust camera pose estimation. https://www.chiggate.com/turbo-air-m3f72-3-n-78-wide-m3-series-reach-in-freezer-featuring-three-solid-doors-energy-star-online-now/