# Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames

arXiv: https://arxiv.org/abs/2501.12764 · HTML: https://mlsanity.com/paper/2501.12764/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Jan 2025.

## Built on by (most cited first, 1 of 1)

- [Correspondence-Free Multiview Point Cloud Registration via Depth-Guided Joint Optimisation](https://mlsanity.com/paper/2506.18922/) (2025)

## Abstract (arXiv)

Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the robot poses and the whole map will greatly increase the computational cost, making SLAM problems difficult to solve in large-scale environments. To solve the 2D non-feature based SLAM problem in large-scale environments more accurately and efficiently, we propose the grid-based submap joining method. Specifically, we first formulate the 2D grid-based submap joining problem as a non-linear least squares (NLLS) form to optimize the global occupancy map and local submap frames simultaneously. We then prove that in solving the NLLS problem using Gauss-Newton (GN) method, the increments of the poses in each iteration are independent of the occupancy values of the global occupancy map. Based on this property, we propose a poseonly GN algorithm equivalent to full GN method to solve the NLLS problem. The proposed submap joining algorithm is very efficient due to the independent property and the pose-only solution. Evaluations using simulations and publicly available practical 2D laser datasets confirm the outperformance of our proposed method compared to the state-of-the-art methods in terms of efficiency and accuracy, as well as the ability to solve the grid-based SLAM problem in very large-scale environments.