算法流程如图14所示，在接收到新一帧数据之后，将2D激光的Laser

The algorithm flow is shown in Figure 14. After receiving a new frame of data, the Laser Scan data of the 2D laser is searched in the Submap through the CSM algorithm to detect the loopback. When the loopback is detected, the RGB-D camera in the original data is detected. The point cloud is matched with the descriptor in the corresponding Submap. If the result matches, the relative pose between the current pose and Submap is output, and new constraints are added to the pose map.

The algorithm flow is shown in Figure 14, after receiving a new frame of data, the 2D laser Laser scan data through the CSM algorithm in Submap to find, detect the loop, when the loop is detected, the original data of the RGB-D camera point cloud and the corresponding Submap description sub- match, the results are consistent, on the output of the current position and Submap relative position, add a new position constraint in the bit graph.

The algorithm flow is shown in Figure 14. After receiving a new frame of data, the laser of 2D laser is changed Scan data is searched in submap by CSM algorithm to detect loop. When loop is detected, the rgb-d camera point cloud in the original data is matched with the descriptor in the corresponding submap. If the result is consistent, the relative pose between the current pose and the submap is output, and new constraints are added to the pose map.