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Spectral scan matching for robot pose estimation

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4 Author(s)
Park, S. ; Center for Cognitive Robot. Res., Korea Inst. of Sci. & Technol., Seoul, South Korea ; Kim, D.H. ; Park, M. ; Park, S.-K.

A novel scan matching method based on a spectral technique is proposed to estimate the robot pose by matching 2D range scans without an initial alignment. The proposed method finds consistent correspondence between two range scans, by considering how well their associated pairwise geometric relationships are satisfied.

Published in:

Electronics Letters  (Volume:45 ,  Issue: 21 )