User's Manual

27
(2) Criteria for map matching
The standard of map matching is to determine whether the current map
position is matched with the laser data. (Refer to Figure 28) The red laser beam is
completely coincident with the boundary of the map, which indicates that the
map is matched and no further initialization is required.
Figure 28
Figure 29 shows that the red laser beam does not coincide with the map
boundary, so the map must be initialized in this case.
Figure 29