Lab Meeting 15 Sep., 2006 (Nelson) : nScan-Matching : Simultaneous Matching of Multiple Scans and Application to SLAM

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.