Fig. 1. The system structure of OL-NDT

Fig. 2. Local factor map optimization structure

Fig. 3. An example of a permanent structural change in DCC. (a) Construction in progress in DCC01; (b) construction completed in DCC02

Fig. 4. Trajectory comparison. (a) The shape and direction of the DCC02 trajectory; (b) comparison of OL-NDT and NDT trajectories with ground truth, box A, lost location of NDT; (c) absolute error comparison of NDT and OL-NDT

Fig. 5. OLML positioning schematic. (a) OL-NDT trajectory and the positional relationship between local map and global map; (b) partial enlarged map

Fig. 6. An example of a short-term structural change in KAIST. (a) On-street parking situation of KAIST01; (b) on-street parking situation of KAIST02; (c) on-street parking situation of KAIST03

Fig. 7. Schematic of the campus data of Beijing Union University. (a) Aerial view of campus data; (b) global map of campus data, box E shows the a scene without a map

Fig. 8. Schematic of the result of the no-map position.(a) OL-NDT trajectory and local map relations with global map; (b) an enlarged view of the no-map region E of the global map. (c) an enlarged view of the no-map region E of the local map

Fig. 9. Comparison of localization score Vscore in unknown regions. (a) Comparison of OL-NDT and NDT localization Vscore; (b) an enlarged view of box H part; (c) OL-NDT location Vscore