Metric-based iterative closest point scan matching for sensor displacement estimation

This paper addresses the scan matching problem for mobile robot displacement estimation. The contribution is a new metric distance and all the tools necessary to be used within the iterative closest point framework. The metric distance is defined in the configuration space of the sensor, and takes into account both translation and rotation error of the sensor. The new scan matching technique ameliorates previous methods in terms of robustness, precision, convergence, and computational load. Furthermore, it has been extensively tested to validate and compare this technique with existing methods