ICE matching, a novel approach for localization problem

This paper presents a novel technique for scan matching. The method is based on the family of feature to feature matching approaches. Our innovative method named ICE matching leads to a fast and accurate solution to solve the challenges of localization problem. Novelty in defining new features, matching mechanism and new state estimation approach, congregated in this method, creates a robust practical technique in terms of accuracy and convergence rate. Furthermore, The Comparison with some high quality scan matching methods from different viewpoints illustrates the performance of ICE matching.