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
Fundamentals of statistical signal processing: estimation theory
Fundamentals of statistical signal processing: estimation theory
Shape registration using optimization for mobile robot navigation
Shape registration using optimization for mobile robot navigation
Computational principles of mobile robotics
Computational principles of mobile robotics
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
Omnidirectional vision scan matching for robot localization in dynamic environments
IEEE Transactions on Robotics
Metric-based iterative closest point scan matching for sensor displacement estimation
IEEE Transactions on Robotics
A Robust Iterative Closest Point Algorithm with Augmented Features
MICAI '08 Proceedings of the 7th Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
Real-time correlative scan matching
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Loop exploration for slam with fusion of advanced sonar features and laser polar scan matching
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Visual Localization Using Ground Points
Proceedings of the 2010 conference on Artificial Intelligence Research and Development: Proceedings of the 13th International Conference of the Catalan Association for Artificial Intelligence
Robotics and Autonomous Systems
A landmark-bounded method for large-scale underground mine mapping
Journal of Field Robotics
Real time egomotion of a nonholonomic vehicle using LIDAR measurements
Journal of Field Robotics
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In this paper a novel Polar Scan Matching (PSM) approach is described that works in the laser scanner's polar coordinate system, therefore taking advantage of the structure of the laser measurements and eliminating the need for an expensive search for corresponding points in other scan match approaches. PSM belongs to the family of point to point scan matching approaches with its matching bearing association rule. The performance of PSM is thoroughly evaluated in a simulated experiment, in experiments using ground truth, in experiments aimed at determining the area of convergence and in a SLAM experiment. All results are compared to results obtained using an iterated closest point (ICP) scan matching algorithm implementation. It is found that PSM is superior to the ICP implementation in processing speed and that PSM converges to a correct solution from a larger range of initial positions.