 The proposed method uses a graph theory approach to select reliable inter-robot loop closures based on their consistency with each other and with the robot trajectory. This allows for improved accuracy when fusing the robot trajectories together into a single global map. Additionally, the proposed method can be used in conjunction with M-estimation algorithms to further improve the accuracy of the resulting map. This article was offered by Ji Hongqin, Jun Xiaoxiao, Tian Tianfeng, and others.