Aiming at problem of simultaneous localization and mapping（ SLAM） of traditional Rao-Blackwellized particle filtering（ RBPF） method

an optimization method of RBPF-SLAM system based on laser radar（ LIDAR） is proposed. This method uses high precision LIDAR data to correct the proposed distribution function based on the odometer readings and reduce number of particles required for filtering process. At the same time

the adaptive resampling mechanism is introduced to alleviate the problem of particle consumption due to resampling. In order to verify the performance of the improved algorithm

a method validation test is carried out on the platform of the differential mobile robot. The results show that the improved RBPF-SLAM method can build the gridding map in real time

and it can improve the efficiency and precision of mapping.