Panther Chameleon: Real-time Image-based Positioning and Mapping

This paper introduces the Panther Chameleon, a system for real-time positioning and mapping in indoor environments. The system is designed for experiments with end-users (primarily soldiers and firefighters) and for demonstration purposes. It uses a combination of inertial and visual sensors, and does not require any infrastructure or prior knowledge about the environment. A number of experiments are presented in the paper, demonstrating that the system provides good positioning and mapping performance in different indoor environments.