Fast 2D laser scan matching algorithm based on curve mass centre correspondence

Start from point-to-point corresponding method, the scan matching problem for 2D laser measurement data association is studied. A relative robot displacement estimation method based on curve mass centre correspondence (CMCC) is proposed. Experiments show that this method is easy to realize and converges faster than the iterative closest point (ICP) method, but its precision is not high. When the CMCC method and ICP method are used together, the matching speed is raised and the precision is also ensured.