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Autonomous Mapping and Navigation using Fiducial Markers and Pan-Tilt Camera for Assisting Indoor Mobility of Blind and Visually Impaired People (2310.10290v1)

Published 16 Oct 2023 in cs.RO and cs.HC

Abstract: Large indoor spaces have complex layouts making them difficult to navigate. Indoor spaces in hospitals, universities, shopping complexes, etc., carry multi-modal information in the form of text and symbols. Hence, it is difficult for Blind and Visually Impaired (BVI) people to independently navigate such spaces. Indoor environments are usually GPS-denied; therefore, Bluetooth-based, WiFi-based, or Range-based methods are used for localization. These methods have high setup costs, lesser accuracy, and sometimes need special sensing equipment. We propose a Visual Assist (VA) system for the indoor navigation of BVI individuals using visual Fiducial markers for localization. State-of-the-art (SOTA) approaches for visual localization using Fiducial markers use fixed cameras having a narrow field of view. These approaches stop tracking the markers when they are out of sight. We employ a Pan-Tilt turret-mounted camera which enhances the field of view to 360{\deg} for enhanced marker tracking. We, therefore, need fewer markers for mapping and navigation. The efficacy of the proposed VA system is measured on three metrics, i.e., RMSE (Root Mean Square Error), ADNN (Average Distance to Nearest Neighbours), and ATE (Absolute Trajectory Error). Our system outperforms Hector-SLAM, ORB-SLAM3, and UcoSLAM. The proposed system achieves localization accuracy within $\pm8cm$ compared to $\pm12cm$ and $\pm10cm$ for ORB-SLAM3 and UcoSLAM, respectively.

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References (53)
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Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Pervasive Computing 8(2), 22–31 (2009). https://doi.org/10.1109/MPRV.2009.30 (8) de la Puente, P., Bajones, M., Reuther, C., Wolf, D., Fischinger, D., Vincze, M.: Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. Journal of Intelligent and Robotic Systems: Theory and Applications 94(2), 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6 (9) Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). 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ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Pervasive Computing 8(2), 22–31 (2009). https://doi.org/10.1109/MPRV.2009.30 (8) de la Puente, P., Bajones, M., Reuther, C., Wolf, D., Fischinger, D., Vincze, M.: Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. Journal of Intelligent and Robotic Systems: Theory and Applications 94(2), 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6 (9) Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 de la Puente, P., Bajones, M., Reuther, C., Wolf, D., Fischinger, D., Vincze, M.: Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. Journal of Intelligent and Robotic Systems: Theory and Applications 94(2), 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6 (9) Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. 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Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Pervasive Computing 8(2), 22–31 (2009). https://doi.org/10.1109/MPRV.2009.30 (8) de la Puente, P., Bajones, M., Reuther, C., Wolf, D., Fischinger, D., Vincze, M.: Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. Journal of Intelligent and Robotic Systems: Theory and Applications 94(2), 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6 (9) Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mulloni, A., Wagner, D., Barakonyi, I., Schmalstieg, D.: Indoor positioning and navigation with camera phones. IEEE Pervasive Computing 8(2), 22–31 (2009). https://doi.org/10.1109/MPRV.2009.30 (8) de la Puente, P., Bajones, M., Reuther, C., Wolf, D., Fischinger, D., Vincze, M.: Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. Journal of Intelligent and Robotic Systems: Theory and Applications 94(2), 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6 (9) Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). 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Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 de la Puente, P., Bajones, M., Reuther, C., Wolf, D., Fischinger, D., Vincze, M.: Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. Journal of Intelligent and Robotic Systems: Theory and Applications 94(2), 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6 (9) Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. 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IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 de la Puente, P., Bajones, M., Reuther, C., Wolf, D., Fischinger, D., Vincze, M.: Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. Journal of Intelligent and Robotic Systems: Theory and Applications 94(2), 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6 (9) Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) 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Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. 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Journal of Intelligent and Robotic Systems: Theory and Applications 94(2), 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6 (9) Katzschmann, R.K., Araki, B., Rus, D.: Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Transactions on Neural Systems and Rehabilitation Engineering 26(3), 583–593 (2018). https://doi.org/10.1109/TNSRE.2018.2800665 (10) Kay, L.: An ultrasonic sensing probe as a mobility aid for the blind. Ultrasonics 2(2), 53–59 (1964) (11) Dakopoulos, D., Bourbakis, N.G.: Wearable obstacle avoidance electronic travel aids for blind: A survey (2010). https://doi.org/10.1109/TSMCC.2009.2021255 (12) Elmannai, W., Elleithy, K.: Sensor-based assistive devices for visually-impaired people: Current status, challenges, and future directions. Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. 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Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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Sensors 17(3) (2017). https://doi.org/10.3390/s17030565 (13) Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. 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IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. 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Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. 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Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. 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Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Silva, C.S., Wimalaratne, P.: State-of-art-in-indoor navigation and positioning of visually impaired and blind. 17th International Conference on Advances in ICT for Emerging Regions, ICTer 2017 - Proceedings 2018-January, 271–279 (2017). https://doi.org/10.1109/ICTER.2017.8257826 (14) Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. 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Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. 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ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Fallah, N., Apostolopoulos, I., Bekris, K., Folmer, E.: Indoor human navigation systems: A survey. Oxford Academic (2013). https://doi.org/10.1093/iwc/iws010. https://academic.oup.com/iwc/article/25/1/21/773804 (15) Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Guerreiro, J., Ahmetovic, D., Sato, D., Kitani, K., Asakawa, C.: Airport accessibility and navigation assistance for people with visual impairments. Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Conference on Human Factors in Computing Systems - Proceedings, 1–14 (2019). https://doi.org/10.1145/3290605.3300246 (16) Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Murata, M., Ahmetovic, D., Sato, D., Takagi, H., Kitani, K.M., Asakawa, C.: Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. 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Pervasive and Mobile Computing 57, 14–32 (2019). https://doi.org/10.1016/j.pmcj.2019.04.003 (17) Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. 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In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ramesh, K., Nagananda, S.N., Ramasangu, H., Deshpande, R.: Real-time localization and navigation in an indoor environment using monocular camera for visually impaired. 2018 5th International Conference on Industrial Engineering and Applications, ICIEA 2018, 122–128 (2018). https://doi.org/10.1109/IEA.2018.8387082 (18) Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Zhang, J., Singh, S.: Loam: Lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2, pp. 1–9 (2014). Berkeley, CA (19) Liu, Z., Zhang, F.: Balm: Bundle adjustment for lidar mapping. IEEE Robotics and Automation Letters 6(2), 3184–3191 (2021) (20) Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. 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Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Garrido-Jurado, S., Muñoz-Salinas, R., Madrid-Cuevas, F.J., Medina-Carnicer, R.: Generation of fiducial marker dictionaries using Mixed Integer Linear Programming. Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition 51(October), 481–491 (2016). https://doi.org/10.1016/j.patcog.2015.09.023 (21) Lahav, O., Schloerb, D.W., Kumar, S., Srinivasan, M.A.: BlindAid: A learning environment for enabling people who are blind to explore and navigate through unknown real spaces. 2008 Virtual Rehabilitation, IWVR, 193–197 (2008). https://doi.org/10.1109/ICVR.2008.4625159 (22) Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bousbia-Salah, M., Bettayeb, M., Larbi, A.: A navigation aid for blind people. Journal of Intelligent and Robotic Systems: Theory and Applications 64(3-4), 387–400 (2011). https://doi.org/10.1007/s10846-011-9555-7 (23) Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tapu, R., Mocanu, B., Zaharia, T.: Wearable assistive devices for visually impaired: A state of the art survey. Pattern Recognition Letters (2018). https://doi.org/10.1016/j.patrec.2018.10.031 (24) Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Gutiérrez-Gómez, D., Puig, L., Guerrero, J.J.: Full scaled 3d visual odometry from a single wearable omnidirectional camera. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4276–4281 (2012). https://doi.org/10.1109/IROS.2012.6385607 (25) Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ishihara, T., Vongkulbhisal, J., Kitani, K.M., Asakawa, C.: Beacon-guided structure from motion for smartphone-based navigation. In: 2017 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 769–777 (2017). https://doi.org/10.1109/WACV.2017.91 (26) Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. IEEE transactions on pattern analysis and machine intelligence 29(6), 1052–1067 (2007) (27) Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Eade, E., Drummond, T.: Scalable monocular slam. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’06), vol. 1, pp. 469–476 (2006). IEEE (28) Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Klein, G., Murray, D.: Parallel tracking and mapping for small ar workspaces. In: 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225–234 (2007). IEEE (29) Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE transactions on robotics 31(5), 1147–1163 (2015) (30) Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. 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In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mur-Artal, R., Tardós, J.D.: Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras. IEEE transactions on robotics 33(5), 1255–1262 (2017) (31) Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. 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IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321
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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics 37(6), 1874–1890 (2021) (32) Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Yeguas-Bolivar, E., Medina-Carnicer, R.: Mapping and localization from planar markers. Pattern Recognition 73, 158–171 (2018) (33) Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Marín-Jimenez, M.J., Medina-Carnicer, R.: SPM-SLAM: Simultaneous localization and mapping with squared planar markers. Pattern Recognition 86, 156–171 (2019). https://doi.org/10.1016/j.patcog.2018.09.003 (34) Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. 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Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321
  33. Muñoz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognition 101, 107193 (2020) arXiv:1902.03729. https://doi.org/10.1016/j.patcog.2019.107193 (35) Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Marín-Jiménez, M.J., Cazorla, M., Medina-Carnicer, R.: sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints. Sensors 23(4), 1–20 (2023). https://doi.org/10.3390/s23042210 (36) Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Sato, D., Oh, U., Guerreiro, J., Ahmetovic, D., Naito, K., Takagi, H., Kitani, K.M., Asakawa, C.: Navcog3 in the wild: Large-scale Blind Indoor Navigation Assistant with Semantic Features. ACM Transactions on Accessible Computing 12(3), 1–30 (2019). https://doi.org/10.1145/3340319 (37) Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: In: Christensen, H.I., Khatib, O. (eds.) Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera, pp. 235–252. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-29363-9_14. https://doi.org/10.1007/978-3-319-29363-9_14 (38) Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Tian, Y., Wei, H., Tan, J.: An adaptive-gain complementary filter for real-time human motion tracking with marg sensors in free-living environments. IEEE Transactions on Neural Systems and Rehabilitation Engineering 21(2), 254–264 (2013). https://doi.org/10.1109/TNSRE.2012.2205706 (39) Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Computer Vision and Image Understanding 110(3), 346–359 (2008). https://doi.org/10.1016/j.cviu.2007.09.014. Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Similarity Matching in Computer Vision and Multimedia (40) Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Intelligent and Robotic Systems: Theory and Applications 101(4) (2021). https://doi.org/10.1007/s10846-020-01307-9 (41) Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. 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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321
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IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kalaitzakis, M., Cain, B., Carroll, S., Ambrosi, A., Whitehead, C., Vitzilaios, N.: Fiducial Markers for Pose Estimation: Overview, Applications and Experimental Comparison of the ARTag, AprilTag, ArUco and STag Markers. 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Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Romero-Ramirez, F.J., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image and Vision Computing 76, 38–47 (2018). https://doi.org/10.1016/j.imavis.2018.05.004 (42) Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Otsu, N.: A threshold selection method from gray-level histograms. IEEE Transactions on Systems, Man, and Cybernetics 9(1), 62–66 (1979). https://doi.org/10.1109/TSMC.1979.4310076 (43) Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Computer Vision, Graphics, and Image Processing 30(1), 32–46 (1985). https://doi.org/10.1016/0734-189X(85)90016-7 (44) Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Xing, B.Y., Dang, R.N., Xu, P., Jiang, C.X., Jiang, L.: Slam algorithm for aruco landmark array based on synchronization optimization. Journal of Physics: Conference Series 1507(5), 052011 (2020). https://doi.org/10.1088/1742-6596/1507/5/052011 (45) Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Bolme, D.S., Beveridge, J.R., Draper, B.A., Lui, Y.M.: Visual object tracking using adaptive correlation filters. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 2544–2550 (2010). https://doi.org/10.1109/CVPR.2010.5539960 (46) Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. 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Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, pp. 155–160 (2011). https://doi.org/10.1109/SSRR.2011.6106777 (47) Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 116–121 (1985). IEEE (48) Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Ivanov, R.: An approach for developing indoor navigation systems for visually impaired people using building information modeling. Journal of Ambient Intelligence and Smart Environments 9, 449–467 (2017). https://doi.org/10.3233/AIS-170441. 4 (49) Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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  48. Li, B., Muñoz, J.P., Rong, X., Chen, Q., Xiao, J., Tian, Y., Arditi, A., Yousuf, M.: Vision-based mobile indoor assistive navigation aid for blind people. IEEE Transactions on Mobile Computing 18(3), 702–714 (2019). https://doi.org/10.1109/TMC.2018.2842751 (50) Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. 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IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321
  49. Wang, Q., Langerwisch, M., Wagner, B.: Wide range global path planning for a large number of networked mobile robots based on generalized voronoi diagrams. IFAC Proceedings Volumes 46(29), 107–112 (2013). https://doi.org/10.3182/20131111-3-KR-2043.00007 (51) Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321
  50. Mikael Pålsson, J.S., Levcopoulos, C.: The Camera Placement Problem – An art gallery problem variation. PhD thesis, Lund University (2008). http://fileadmin.cs.lth.se/cs/education/Examensarbete/Rapporter/2008/CameraPlacement.pdf (52) Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321
  51. Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992) (53) Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321
  52. Yagfarov, R., Ivanou, M., Afanasyev, I.: Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 1979–1983 (2018). https://doi.org/10.1109/ICARCV.2018.8581131 (54) May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321 May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321
  53. May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics 26(11-12), 934–965 (2009) https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20321. https://doi.org/10.1002/rob.20321

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