Develop a solution to SLAM for people encountering a new indoor environment for the first time. (Use your favorite local university or office building as a test environment.) Is your representation...

Develop a solution to SLAM for people encountering a new indoor environment for the first time. (Use your favorite local university or office building as a test environment.) Is your representation topological or metric? If topological, how did you defined locations/edges? If metric, how did you estimate location(s)? What did you use as your sensor primitives? Certain assumptions will make the problem simpler but fragile. For example, in an office environment did you assume door numbers were unique, and, if so, what will happen to your algorithm if they are not?