Virtuallyallexistingmobilerobotlocalizationtechniquesoperateonastaticmapoftheenvironment.Whentheenvironmentchanges(e.g.,doorsareopenedorclosed),thereisanopportunitytosimultaneouslyestimatetherobot’sposeandthestateoftheenvironment.Theresultingestimationproblemishigh-dimensional,rendering