Validation of SLAM without odometry in outdoor environment

This paper presents a method of Simultaneous Localization and Mapping(SLAM). Our method uses the Particle Swarm Optimization(PSO) algorithm to estimate the amount of movement. The accuracy of the previous method was enough high in normal environments, but the error was remarkable when the number of features was low. In such case, the estimation of the rotation tends to failed. In order to solve this problem, the weights of the evaluation function are introduced. From experimental results, it is proved that our method is effective in the outdoor environment.