To　solve　the　problem　of　the　simultaneous　localization　and　mapping　(SLAM)　under　the　complex　circumstance,　a　distributed　algorithm　of　the　SLAM　based　on　partition　of　space-region　is　proposed　considering　the　respective　advantages　of　centralized　configuration　and　distributed　structure.　The　region　is　formed　according　to　the　angle　between　two　landmarks　and　the　robot,　which　is　designed　in　case　of　the　collinearity　between　two　landmarks.　The　landmarks　in　each　region　are　combined　to　establish　the　corresponding　observation　model.　Besides,　the　position　of　the　robot　is　obtained　by　applying　the　distributed　unscented　particle　filter　and　the　positions　of　the　landmarks　are　estimated　simultaneously　by　employing　the　Kalman　filter.　Meanwhile,　the　accuracy　and　the　stability　are　improved　through　constructing　the　adjustment　of　particle　distribution　during　the　dynamic　reconfiguration　process.　Eventually,　the　better　real-time　capability　and　filter　accuracy　of　the　proposed　SLAM　algorithm　are　proved　through　simulation　experiments　which　are　supported　by　actual　data.　©,　2015,　Chinese　Institute　of　Electronics.　All　right　reserved.