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This paper presents a simplification of the Lu and Milios work  for globally consistent Simultaneous Localization And Mapping (SLAM) with two-dimensional (2D) scan registration. The proposed method is based on global two-step (orientation-position) pose estimation. This approach reduces the computational effort since it represents a closed-form solution that admits an incremental updating procedure. Successful simulation and experimental tests with the tracked mobile robot Auriga-Â¿ with an onboard laser rangefinder in indoors are presented.