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

Sammanfattning: 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.