The Invisible Map: Visual-Inertial SLAM with Fiducial Markers for Smartphone-based Indoor Navigation
This addresses indoor navigation for smartphone users, but appears incremental as it builds on existing SLAM methods with marker integration.
The paper tackles indoor navigation by creating 3D maps using smartphones with visual-inertial SLAM and fiducial markers, achieving accurate mapping results.
We present a system for creating building-scale, easily navigable 3D maps using mainstream smartphones. In our approach, we formulate the 3D-mapping problem as an instance of Graph SLAM and infer the position of both building landmarks (fiducial markers) and navigable paths through the environment (phone poses). Our results demonstrate the system's ability to create accurate 3D maps. Further, we highlight the importance of careful selection of mapping hyperparameters and provide a novel technique for tuning these hyperparameters to adapt our algorithm to new environments.