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Map generation using a smartphone’s built in localisation and mapping algorithms

Harvig, Emil LU (2023) In Master's Theses in Mathematical Sciences FMAM05 20222
Mathematics (Faculty of Engineering)
Abstract
Localisation and mapping algorithms for smartphones have in recent years seen a renewed interest due to their technological advancements. Using these systems to generate an indoor blueprint where none is available or incomplete is useful in tracking applications. This report examines the possibilities of adapting ARcore as a tool for map generation of unknown areas. Several tests of indoor environments were performed in office and university environments, recording pose track and environment data. This study finds it feasible to perform a combined pose tracking and indoor mapping, capturing the overall shape of a surveyed area with some distortions and drift in the resulting map.
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author
Harvig, Emil LU
supervisor
organization
alternative title
Kartläggning av inomhusmiljöer med hjälp av en mobiltelefons inbyggda system för lokalisering och kartläggning
course
FMAM05 20222
year
type
H2 - Master's Degree (Two Years)
subject
keywords
Point Cloud, SLAM, vSLAM, Pose, Occupancy Grid Map, OGM, ARcore
publication/series
Master's Theses in Mathematical Sciences
report number
LUTFMA-3495-2023
ISSN
1404-6342
other publication id
2023:E4
language
English
id
9111187
date added to LUP
2023-05-10 16:19:54
date last changed
2023-05-10 16:19:54
@misc{9111187,
  abstract     = {{Localisation and mapping algorithms for smartphones have in recent years seen a renewed interest due to their technological advancements. Using these systems to generate an indoor blueprint where none is available or incomplete is useful in tracking applications. This report examines the possibilities of adapting ARcore as a tool for map generation of unknown areas. Several tests of indoor environments were performed in office and university environments, recording pose track and environment data. This study finds it feasible to perform a combined pose tracking and indoor mapping, capturing the overall shape of a surveyed area with some distortions and drift in the resulting map.}},
  author       = {{Harvig, Emil}},
  issn         = {{1404-6342}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{Master's Theses in Mathematical Sciences}},
  title        = {{Map generation using a smartphone’s built in localisation and mapping algorithms}},
  year         = {{2023}},
}