Algorithm 1 Principle of location coding for non-standard environmental maps

Coding Principle

Input: Image edge length a, number of grids n × n Output: Grid edge length u = a/n 1. Loop n times starting from the first line 2. Loop n times starting from the first column 3. The encoding position y for each loop row is u × j, and j is the current number of columns 4. Each loop has a column encoding position x of u × i, where i represents the current number of rows 5. The encoded value for each position is num2str ((i − 1) × a/u + j 6. End column loop 7. End row loop 8. End