The accuracy dependency investigation of simultaneous localization and mapping on the errors from mobile device sensors

摘要

Monocular Simultaneous Localization and Mapping (SLAM) is one of the most complex and well-known problems, affecting several scientific fields: robotics, computer vision, virtual reality. This paper aims to study the SLAM problem for the mobile device with a monocular camera and sensors: accelerometer, gyroscope and digital compass. The latter allow to obtain an additional estimation of a mobile device position and orientation. The aim is to assess the potential suitability and efficiency of using extra information from inertial sensors to improve the solution quality and to reduce the time to obtain the solution. The experimental part of the study, including both model and field experiments, allowed to determine the requirements for permissible errors introduced by the sensors of the mobile device. For a specific model of a mobile device, it is shown that the electronic compass meets these requirements, while the errors of the inertial sensors used to determine the movements are unacceptably large.