Matching of Laser Range Sensor Data and 3D Surface Scanner Data Robust to Abnormal Values Using Evolutionary ICP Algorithm and Gaussian Function

Recently need of surveillance systems are increasing for aging society or terrorism. People use image cameras, infra-red scanners or other equipments for surveillance. There are infra-red 2D range sensors with wide view angles and long distance. Also there are infra-red 3D scanners with narrow view angles and short distance. A surveillance system which is a combination of those equipments of the both types is expected to be useful. In this paper a method which is a combination of ES and ICP is proposed to match data of 2D range sensor and data of 3D scanner. The method uses Gaussian function as a fitness function to avoid an influence of abnormal data.