By Topic

A scan matching method based on the area overlap of star-shaped polygons

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Dario Lodi Rizzini ; Dipt. di Ing. dell' lnformazione, Univ. of Parma, Parma, Italy ; Stefano Caselli

We illustrate a method that performs scan matching by maximizing the intersection area of the scans. The intersection area is a robust parameter that is less prone to measurement errors with respect to alternative techniques. Furthermore, such technique does not require to associate each point of one scan to a point of the other one like in some popular algorithms. The relative pose that maximizes the overlap is estimated iteratively. Since the scans are represented by star-shaped polygons due to visibility properties, their intersection can be computed using an efficient linear-time traversal of the vertices. Then, the relative pose is updated under the hypothesis that the combinatorics of intersection is left unchanged and the procedure is repeated until the scans are aligned with sufficient precision.

Published in:

Mobile Robots (ECMR), 2013 European Conference on

Date of Conference:

25-27 Sept. 2013