Comparison and analysis of scan matching techniques for Cooperative-SLAM

Author

Lee, Heon-Cheol ; Lee, Seung-Hee ; Lee, Seung-Hwan ; Tae-Seok Lee ; Kim, Doo-Jin ; Park, Kyung-Sik ; Kong-Woo Lee ; Lee, Beom-Hee

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., Seoul, South Korea

fYear

2011

fDate

23-26 Nov. 2011

Firstpage

165

Lastpage

168

Abstract

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.

Keywords

SLAM (robots); image matching; iterative methods; mobile robots; robot vision; Hough scan matching; cooperative-SLAM; iterative closest points; polar scan matching; scan matching techniques; Estimation; Iterative closest point algorithm; Lasers; Robot kinematics; Simultaneous localization and mapping; Cooperative-SLAM; HSM; ICP; PSM; Scan matching technique;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on

Conference_Location

Incheon

Print_ISBN

978-1-4577-0722-3

Type

conf

DOI

10.1109/URAI.2011.6145953

Filename

6145953