  To handle the different types of surface reconstruction tasks, we have
replicated as well as modified a few of reconstruction methods and have made
comparisons between the traditional method and data-driven method for
reconstruction the surface of an object with dense point cloud as input. On top
of that, we proposed a system using tightly-coupled SLAM as an input to
generate deskewed point cloud and odometry and a Truncated Signed Distance
Function based Surface Reconstruction Library. To get higher accuracy,
IMU(Inertial Measurement Unit) pre-integration and pose graph optimization are
conduct in the SLAM part. With the help of the Robot Operating System, we could
build a system containing those two parts, which can conduct a real-time
outdoor surface reconstruction.
