LINK (pdf)
Peter Biber Wolfgang Straßer
University of Tubingen
WSI/GRIS
Abstract—Scan matching is a popular way of recovering
a mobile robot’s motion and constitutes the basis of many
localization and mapping approaches. Consequently, a variety
of scan matching algorithms have been proposed in the past.
All these algorithms share one common attribute: They match
pairs of scans to obtain spatial relations between two robot poses.
In this paper we present a method for matching multiple scans
simultaneously. We discuss the need for such a method and
describe how the result of such a multi-scan matching can be
incorporated into relation-based SLAM in the Lu and Milios
style.
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