SLAM Based indoor mapping comparison : Mobile or terrestrial ?

With the rapid development and progress of information and electronics industry, widespread use of intelligent portable devices equipped with different miniature navigation and positioning sensors boost the demanding of ubiquitous Location-Based Services (LBS). For the outdoor navigation, the position accuracy can easily be in centimeter level using GNSS position technologies. However, the traditional methods can't fulfill the requirements of accuracy, efficiency and productivity in a complicated indoor environment. Seeking an efficient and accurate indoor map building and updating method is necessary for meeting the huge demand for the indoor LBS. Generally, the indoor mapping solutions can be classified into two major categories: Mobile mapping or terrestrial mapping. In this research, we select NAVIS (NAVIS is an IMU aided SLAM mapping system developed by FGI) as an example of mobile indoor mapping, and Matterport (a commercial indoor mapping system) as terrestrial indoor mapping case. And we try to characterize the pros and cons of each system by comparing each indoor mapping result with the referenced one. The investigation in this paper can be summed as the several questions: 1) whether the mapping error propagated or not for Matterport sensor since the sensor is generally considered as a SLAM based mapping sensor; 2) whether the mapping trajectory of Matterport will affect the final mapping results; 3) whether there is any optimal operation configuration of Matterport can offer better indoor mapping results.