A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
Parallel evolutionary registration of range data
Computer Vision and Image Understanding - Registration and fusion of range images
Fast Genetic Scan Matching Using Corresponding Point Measurements in Mobile Robotics
Proceedings of the 2007 EvoWorkshops 2007 on EvoCoMnet, EvoFIN, EvoIASP,EvoINTERACTION, EvoMUSART, EvoSTOC and EvoTransLog: Applications of Evolutionary Computing
Metric-based iterative closest point scan matching for sensor displacement estimation
IEEE Transactions on Robotics
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In this paper we propose a scan matching algorithm for robotic navigation based on the combination of ICP and genetic optimization. Since the genetic algorithm is robust but not very accurate, and ICP is accurate but not very robust, it is natural to use the two algorithms in a cascade fashion: first we run a genetic optimization to find an approximate but robust matching solution and then we run ICP to increase accuracy. The proposed genetic algorithm is very fast due to a lookup table formulation and very robust against large errors in both distance and angle during scan data acquisition. It is worth mentioning that large scan errors arise very commonly in mobile robotics due, for instance, to wheel slippage. We show experimentally that the proposed algorithm successfully copes with large localization errors.