Fig. 1

Result of petrochemical complex (380–550 m) consistency: map for Fast-SLAM 2.0 in a grid map based on GPS and LIDAR (bottom) compared to an aerial map (top) [2]
Result of petrochemical complex (380–550 m) consistency: map for Fast-SLAM 2.0 in a grid map based on GPS and LIDAR (bottom) compared to an aerial map (top) [2]