Is it possible to correct the current position during the SLAM mapping process ?

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Hello everyone,

Is it possible to correct the current position during the SLAM mapping process ? Our robot is equipped with ultrasonic sensors instead of a LIDAR scanner. In total 3 ultrasonic sensors. Right, left and front. When creating the map, the position keeps drifting. However, I know the exact position in a few places and would like to enter this manually as a correction when the robot is on this position.

Is it possible to improve a map by driving from exactly the same starting point.

I could drive my area once around to the left and once around to the right. My starting point is also always identical to the end point.

Can maps be revised ?

Many thanks and greetings Ovoron