SPM-SLAM: Simultaneous localization and mapping with squared planar markers

To solve these limitations, this work proposes a real-time solution to the problems of simultaneously localizing the camera and building a map of planar markers. This paper contributes with a number of solutions to the problems arising when solving SLAM from squared planar markers, coining the term SPM-SLAM. The experiments carried out show that our method can be more robust, precise and fast, than visual SLAM methods based on keypoints or texture.