Lab Meeting 20 Oct.,2006 (Nelson) : Metric-Based Iterative Closest Point Scan Matching

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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 tovalidate and compare this
technique with existing methods.