期刊名称：International Journal of Intelligent Systems and Applications
印刷版ISSN：2074-904X
电子版ISSN：2074-9058
出版年度：2013
卷号：5
期号：11
页码：11-18
DOI：10.5815/ijisa.2013.11.02
出版社：MECS Publisher
摘要：Localization and mapping are very important for safe movement of robots. One possible way to assist with this functionality is to use laser scan matching. This paper describes a method to implement this functionality. It is based on well-known random sampling and consensus (RANSAC) and iterative closest point (ICP). The proposed algorithm belongs to the class of point to point scan matching approach with its matching criteria rule. The performance of the proposed algorithm is examined in real environment and found applicable in real-time application.
关键词：Scan Matching; Localization; Iterative Closest Point (ICP); Random Sample; Consensus (RANSAC) Algorithm
