Comparison of Accuracy Between Simultaneous Localization and Mapping (SLAM) with Real-Time Kinematic (RTK) Satellite Surveying and Total Station for Indoor and Outdoor Positioning Surveys

Abstract

This paper investigates the comparative positional accuracy of Simultaneous Localization and Mapping (SLAM) technology against Real-Time Kinematic (RTK) GNSS surveying and conventional total station methods through detailed topographic data acquisition. A total of 30 ground control points were established, comprising 15 outdoor and 15 indoor checkpoints. The surveying procedure commenced with the establishment of a primary benchmark (BM1) referenced to the Department of Lands’ Network Real-Time Kinematic (NRTK) service. Subsequently, a secondary benchmark (BM2) was surveyed using Radio RTK and employed as the reference point for detailed checkpoint surveying. Both outdoor and indoor checkpoints were measured using a total station, and their three-dimensional coordinates were compared with those derived from the SLAM system. Positional accuracy was assessed based on the root mean square error (RMSE) values, and the applicability of each surveying method was evaluated within different environmental contexts. The results reveal that SLAM achieved RMSE values of 0.023 meters in the horizontal (dxy) and 0.019 meters in the vertical (dz) for indoor environments and 0.018 meters in the horizontal (dxy) and 0.022 meters in the vertical (dz) for outdoor environments, closely approximating the accuracy levels obtained from GNSS and total station measurements. These findings substantiate the potential of SLAM technology as a viable surveying and mapping solution in GNSS-denied environments, thereby offering significant implications for advancing future geospatial data acquisition methodologies.