Abstract
Localization is critical to but also challenging for an efficient first response during indoor emergency situations. This paper describes an economical indoor localization system with a low setup cost based on the visual Simultaneous Localization and Mapping (vSLAM). In addition, threshold for key features per image frame is studied for acceptable localization accuracy. The amount of image input users should collect is also analyzed for reliable localization. To address matching and accuracy issues under varying lighting conditions, a comprehensive approach for accurate localization utilizing vSLAM is also proposed. An actual building was tested for the proposed approach with an average localization success rate over 94%.
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