The Simultaneous Localisation and Mapping (SLAM)

problem asks if it is possible for a mobile robot to be placed

at an unknown location in an unknown environment and

for the robot to incrementally build a consistent map of

this environment while simultaneously determining its lo-

cation within this map. A solution to the SLAM problem

has been seen as a `holy grail for the mobile robotics com-

munity as it would provide the means to make a robot truly

autonomous.-The Simultaneous Localisation and Mapping (SLAM)

problem asks if it is possible for a mobile robot to be placed

at an unknown location in an unknown environment and

for the robot to incrementally build a consistent map of

this environment while simultaneously determining its lo-

cation within this map. A solution to the SLAM problem

has been seen as a `holy grail　for the mobile robotics com-

munity as it would provide the means to make a robot truly

autonomous.