The article presents a system for creating easily navigable 3D maps of buildings using mainstream smartphones. The system formulates the 3D-mapping problem as an instance of Graph SLAM (Simultaneous Localization and Mapping), taking into account both building landmarks and navigable paths. The system uses visual-inertial odometry (VIO) and ‘fiducial markers’ to estimate device pose and identify landmarks. The study emphasizes the importance of appropriate selection and tuning of mapping hyperparameters. The system is designed to be particularly useful for pedestrians navigating unfamiliar indoor environments and for applications like autonomous mobile robots.
Publication date: 18 Oct 2023
Project Page: Not Provided
Paper: https://arxiv.org/pdf/2310.10862
