Sensor Synchronization for Android Phone Tightly-Coupled Visual-Inertial SLAM

  • Zheyu Feng
  • Jianwen LiEmail author
  • Taogao Dai
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 499)


At present, the majority of Android phones only support satellite positioning and cellular localization. Both of them are of poor indoor performance, which limits the development of the relevant indoor location based services. In this paper, we attempt to achieve positioning with raw image and Inertial Measurement Unit (IMU) data from Android phone. We first introduce a state-of-the-art framework for tightly-coupled monocular visual-inertial Simultaneous Localization and Mapping (SLAM) using image and IMU data. Then we focus on the unsynchronization problem between camera and IMU of Android phone, and propose a grid search algorithm based on spherical quaternion interpolation for delay estimation. The results of indoor and outdoor experiments show that the algorithm can estimate the delay of image timestamp effectively, and the percentage of positioning plane error is 0.79% indoors and 8.09% outdoors respectively.


Android phone Tightly-coupled Synchronization SLAM VINS 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2018

Authors and Affiliations

  1. 1.Information Engineering UniversityZhengzhouChina
  2. 2.63883 TroopsLuoyangChina

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