Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation
A novel point-to-point scan matching approach is proposed to address pose estimation and map building issues of mobile robots. Polar Scan Matching (PSM) and Metric-Based Iterative Closest Point (Mb-ICP) are usually employed for point-to-point scan matching tasks. However, due to the facts that PSM c...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2016-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2016/2028414 |