We present a system for creating building-scale, easily navigable 3D maps using mainstream smartphones. In our approach, we formulate the 3D-mapping problem as an instance of Graph SLAM and infer the position of both building landmarks (fiducial markers) and navigable paths through the environment (phone poses). Our results demonstrate the system's ability to create accurate 3D maps. Further, we highlight the importance of careful selection of mapping hyperparameters and provide a novel technique for tuning these hyperparameters to adapt our algorithm to new environments.

翻译：我们提出了一种利用主流智能手机创建建筑级、易于导航的三维地图系统。在该方法中，我们将三维地图构建问题形式化为图SLAM的一个实例，并同时推断建筑地标（基准标记）和环境中可导航路径（手机位姿）的位置。实验结果证明了该系统生成精确三维地图的能力。此外，我们强调了谨慎选择地图超参数的重要性，并提供了一种新颖的超参数调优技术，使算法能够适应新环境。