The first subject of this dissertation is focused on environment map building for indoor environment and outdoor environment.
第一部分内容是环境地图构建，包括室内环境地图构建和室外环境地图构建。
So, research on environment modelling of mobile robots, usually named map building, receives more and more attention.
因此移动机器人的自主环境构建(通常称为地图创建)问题越来越受到各国研究者的重视。
To sum up, these problems are mainly occurred in the aspects of model building and operating environment of resources map design, and up to now are not solved.
总结起来，这些问题主要出现在资源图件的模型建立和应用操作环境方面，到目前为止还没有得到解决。
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