Map Updating Revisited for Navigation Map : A mathematical way to perform map updating for autonomous mobile robot

Simultaneous localization and mapping, SLAM can product a Map for autonomous robots and self-driving vehicle in navigation. In the actual environment, the scene changes frequently, which makes the old map no long reliable. Therefore, it is necessary to update such a map by an efficient and safely way. In this paper, we review the existing map updating, long-term localization methods and discuss about the challenges in this situation. We present a Map updating method in mathematical way which can update accurately. Our proposed method are tested in five indoor dataset and demonstrated feasibility.