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+technology+enables+the+construction+of+environmental+maps+and+localization%252C+serving+as+a+key+technique+for+indoor+autonomous+navigation+of+mobile+robots.+Traditional+SLAM+methods+typically+require+exhaustive+traversal+of+all+rooms+during+indoor+navigation+to+obtain+a+complete+map%252C+resulting+in+lengthy+path+planning+times+and+prolonged+time+to+reach+target+points.+Moreover%252C+cumulative+errors+during+motion+lead+to+inaccurate+robot+localization%252C+impacting+navigation+efficiency.This+paper+proposes+an+improved+SLAM+method%252C+FR-SLAM%252C+based+on+floor+plan+registration%252C+utilizing+a+morphology-based+floor+plan+registration+algorithm+to+align+and+transform+original+floor+plans.+This+approach+facilitates+the+rapid+acquisition+of+comprehensive+motion+maps+and+efficient+path+planning%252C+enabling+swift+navigation+to+target+positions+within+a+shorter+timeframe.+To+enhance+registration+and+robot+motion+localization+accuracy%252C+a+real-time+update+strategy+is+employed%252C+comparing+the+current+position%27s+building+structure+with+the+map+and+dynamically+updating+floor+plan+registration+results+for+precise+localization.+Comparative+tests+conducted+on+real+and+simulated+datasets+demonstrate+that%252C+compared+to+other+benchmark+algorithms%252C+this+method+achieves+higher+floor+plan+registration+accuracy+and+shorter+time+consumption+to+reach+target+positions.&cdnurl=https%3a%2f%2fth.bing.com%2fth%2fid%2fR.e23c4c8230b0c12779ce7cd20b65c14b%3frik%3dvUmIM5b4DEesiQ%26pid%3dImgRaw%26r%3d0&exph=630&expw=1200&q=Slam+Reconstruction&FORM=IRPRST&ck=D62AC985B4B66236E2FCF57083CCAD43&selectedIndex=18&itb=0)
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