While building map, the robot has to update its odometry data, then continue to create map. This process is called simultaneous localization and mapping(SLAM),and the localization during SLAM is local localization.

• 机器人在创建地图的过程中,为了提高地图的精度,需要时刻修正里程计数据,再利用新的位姿更新地图,这个一边创建地图一边修正自己位姿的过程称为同时定位与地图创建,即SLAM,而SLAM过程中机器人修正位姿的过程称为局部定位。