在进行室内点云匹配的时候，可以进行激光SLAM算法的点云场景。(The point cloud scene of the laser SLAM algorithm can be carried out when indoor point cloud matching is performed.)

cartographer ros程序：SLAM(实时同步定位与地图算法）,在ROS 系统下使用可完成2D 和室内地图构建(Real time synchronous location and mapping system (SLAM), providing ROS system support for 2D and indoor map building.)