Fig. 20From: Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR Data in a factory 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 observed to have consistency. However, c Karto SLAM based on LIDAR map has no consistency because large distortions are apparent on the mapBack to article page