Real-Time Correlative Scan Matching

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009

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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.


3D scan matching cost function
Movie 5.1 MB

Incremental scanmatching
Movie 27.4 MB


    AUTHOR     = {Edwin Olson},
    TITLE      = {Real-Time Correlative Scan Matching},
    BOOKTITLE  = {Proceedings of the {IEEE} International Conference on Robotics and
                 Automation ({ICRA})},
    YEAR       = {2009},
    MONTH      = {June},
    ADDRESS    = {Kobe, Japan},
    PAGES      = {4387--4393},