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。
Normal Distributions Transform (NDT) is used in scan-matching based SLAM, and map-building is implemented in larger scale indoor environment by home service robots.
将正态分布变换(NDT)应用于基于扫描匹配的SLAM中，实现了家庭服务机器人较大规模室内环境下的建图。
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