Collaborative SLAM and AR-guided navigation for floor layout inspection

Kihyun Yu, Jeong Hyeon Ahn, Jongmin Lee, Myungho Kim, Jung Hyun Han

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


This paper presents how visual SLAM and AR interfaces are integrated for inspecting the floor layouts, which is a standard stage in building a semiconductor fabrication plant (commonly called a fab). The proposed system supports multiple inspectors working in a large fab floor through client–server communications. The inspectors/clients scan the fab floor using smartphones to construct the floor map collaboratively, and then, its discrepancy from the given floor plan is checked by the server. The inspection results are broadcast to all clients and visualized via AR to help the inspectors move to unscanned areas. The experiments made with the proposed system show its accuracy and efficiency. By solving a real-world industrial problem, the proposed system proves the benefits that can be brought by integrating collaborative SLAM technique and AR-guided navigation interface.

Original languageEnglish
Pages (from-to)2051-2063
Number of pages13
JournalVisual Computer
Issue number10-12
Publication statusPublished - 2020 Oct 1

Bibliographical note

Publisher Copyright:
© 2020, Springer-Verlag GmbH Germany, part of Springer Nature.


  • Augmented reality
  • Discrepancy check
  • Inspection
  • SLAM

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition
  • Computer Graphics and Computer-Aided Design


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