Click to play this movie, randomly picked from our research

Get another movie
 
Incremental scanmatching
27.4 MB
(PDF, 769.9 KB)
Scan matching, the problem of registering two laser scans in order to determine the relative positions from which the scans were obtained, is one of the most heavily relied-upon tools for mobile robots. The design of current algorithms is strongly influenced by the need for real-time operation: heuristics are employed in order to reduce the complexity of the search. Of course, these heuristics are imperfect, and can result in poor results--- especially in cases where the prior is weak or absent... (more)