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The Scientific World Journal
/
2013
/
Article
/
Alg 2
/
Research Article
A Fast Map Merging Algorithm in the Field of Multirobot SLAM
Algorithm 2
Calculation process of
.
Input:
the grid map
,
and grid value
Output:
1 calculate the
of
according to Algorithm
1
;
2
;
3
for
to
do
4
for
to
do
5
if
then
6
;
7
end
8
end
9
end
10
return
;