Floorplan SLAMExpert
MVP-SLAM: Multi-Camera Visual-Inertial Floorplan-Prior SLAM
This preprint introduces MVP-SLAM, an online visual-inertial SLAM system for construction sites that uses an as-planned floor plan to correct drift using only two back-to-back fisheye cameras and an IMU. It ranked 2nd of 22 teams in the Localization task of the Hilti–Trimble SLAM Challenge 2026 with 0.29 m mean RMSE, and 5th of 62 teams in SLAM with 0.24 m, the best among systems that integrate floor plans online. The work matters because it enables drift-bounded, plan-aligned localization during active site traversal without depth sensors.