I. Introduction
The research and development of mobile autonomous robots has substantially expanded within the last decade and continues to increase due to the rapid advancement in theory and electronic technology. Different methods of how a robot can navigate through an unknown structured environment, that is to estimate its current position and orientation, have been developed. Robot platforms for simultaneous localisation and mapping (SLAM) include sensors systems such as motor encoders, optical vision, miniature radars [1], LIDAR and satellite positioning. The ubiquity of such sensors has attracted more and more researchers, who specialize in robotics, to develop their customized techniques in robotic simultaneous localization and mapping (SLAM).