Algorithm 5. Localization Method

Input: Occupancy Grid Map, Visual Images Map

Output: Localization Result

1: Load Occupancy Grid Map

2: AMCL localization method is used by default

3: Receive laser scans data and call Algorithm 1

4: If the environment is symmetrical, then

5: Call Algorithms 2 and 3

6: Compare G‒V distance with G‒V Index List

7: Compare new bag-of-words vectors with visual images map database

8: If match succeeded, then

9: Go to Step 2

10: else

11: Create new visual images map

12: End if

13: else

14: Go to Step 2

15: End if