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nScan-matching: simultaneous matching of multiple scans and application to SLAM

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2 Author(s)
Biber, P. ; WSI/GRIS, Tubingen Univ. ; Strasser, W.

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

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006