This paper describes a novel SLAM (simultaneous localization and mapping) scheme based on scan matching in an environment including various physical properties.

中文翻译：

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考虑环境物理特性的使用ICP和图优化的SLAM

本文描述了一种基于扫描匹配的新型 SLAM（同时定位和映射）方案，包括各种物理特性。