  SLAM (Simultaneous Localization and mapping) is one of the most challenging
problems for mobile platforms and there is a huge amount of modern SLAM
algorithms. The choice of the algorithm that might be used in every particular
problem requires prior knowledge about advantages and disadvantages of each
algorithm. This paper presents the approach for comparison of SLAM algorithms
that allows to find the most accurate one. The accent of research is made on 2D
SLAM algorithms and the focus of analysis is 2D map that is built after
algorithm performance. Three metrics for evaluation of maps are presented in
this paper
