式中，a表示submap的位姿，b表示激光帧的位姿，地图构建过程中检测

In the formula, a represents the pose of the submap and b represents the pose of the laser frame. The loopback constraint between the laser frame and the submap detected during the map construction is constrained by the relative pose c between them and the corresponding covariance matrix d means. p is a loss function, the main role is to reduce the impact of error constraints during optimization, you can use the Huber loss function. The residual e is calculated by equation (5-13).

in the form, a represents the position of the submap, b represents the position of the laser frame, and the loop backbound constraint seamount between the laser frame detected during the map construction is represented by the relative position c between them and the corresponding covariance matrix d. p is a loss function whose primary function is to reduce the impact of error constraints when optimizing, and the Huber loss function can be used. Residual e is calculated by formula (5-13).

Where a is the pose of submap and B is the pose of laser frame. The loop constraint between laser frame and submap detected during map construction is represented by their relative pose C and their corresponding covariance matrix D. P is a loss function. Its main function is to reduce the impact of error constraints during optimization. Huber loss function can be used. The residual error E is calculated by equation (5-13).<br>