IEEE TRANSACTIONS ON ROBOTICS,
VOL. 22, NO. 5, OCTOBER 2006
Metric-Based Iterative Closest Point Scan Matching
Javier Minguez, Luis Montesano, and Florent Lamiraux
Abstract—This paper addresses the scan matching problem
for mobile robot displacement estimation. The contribution
is a new metric distance and all the tools necessary to be used
within the iterative closest point framework.
The metric distance is defined in the configuration space of the
sensor, and takes into account both translation and rotation
error of the sensor. The new scan matching technique
ameliorates previous methods in terms of robustness, precision,
convergence, and computational load. Furthermore, it has been
extensively tested to validate and compare this technique with
existing methods.
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