Comparison and analysis of scan matching techniques for Cooperative-SLAM

A scan matching technique is a key technique to implement Cooperative-SLAM (C-SLAM). Although a variety of scan matching techniques have been developed, each of them has both merits and faults. This paper compares and analyzes three well-known scan matching techniques which are ICP (Iterative Closest Points), HSM (Hough Scan Matching), and PSM (Polar Scan Matching). The comparison and analysis are carried out in terms of error and computation time for scan pairs which consists of a reference scan and a current scan. Moreover, the scan matching technique which shows the best performance is applied to C-SLAM.