104 Chapter 6. Simultaneous Localization and Mapping

Figure 6.11: The resulting global map together with the dead-reckoning(blue), GPS (red) and SLAM (black) trajectories represented over a satelliteimage of the scenario.

Figure 6.12: Acoustic map obtained after an averaged composition of thesonar readings along the deadreckoning estimated trajectory (left) and theSLAM estimated trajectory (right).