Fig. 19From: Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR Data in petrochemical complexes where red is ground truth MMS data and the result of SLAM: a FS 2.0 based on GPS and LIDAR map and b FS 1.0 based on GPS and LIDAR map are visually shown to have consistency. On the other hand, c Karto SLAM based on LIDAR map has no consistency because large distortions are evident on the mapBack to article page