如图16所示，本文算法和Cartographer算法均能完整的构建出环

As shown in Figure 16, both the algorithm and the Cartographer algorithm in this paper can construct a complete environment map. The corners in the environment and the ring structure can be well restored. As shown in Figure 17, long-distance linear corridors can also be constructed completely. Due to the high pose accuracy, the straightness of the corridor restored by the algorithm in this paper is better.

As shown in Figure 16, both the algorithm and the Cartographer algorithm can construct the environment map in a complete way. The corners of the environment, the ring structure can be restored very well. As shown in Figure 17, the long-distance linear corridor can also be completely constructed, because of the high position accuracy, the algorithm restores the corridor straightness is better.

As shown in Figure 16, both the proposed algorithm and cartographer algorithm can construct the environment map completely. The corner and ring structure in the environment can be well restored. As shown in Figure 17, the long-distance linear corridor can also be constructed completely. Due to the high pose accuracy, the straightness of the corridor restored by this algorithm is better.