A sub-map-based simultaneous localization and mapping technique for intelligent vehicles

For enabling intelligent vehicle to create environmental grid map and achieve real-time positioning in a condition with unpredictable environment scope, a simultaneous localization and mapping (SLAM) technique base on sub-map frame is proposed. The overlapped zones and switching zones are set in sub-maps to avoid endless successive switching of adjacent sub-maps. The results of experiment show that the technique proposed can ensure the dynamic growth of map scope and stable switching between sub-maps in SLAM process of vehicle.