这篇文章是谷歌的Cartograph中实现real_time_correlative_scan_matcher的论文
Real-Time Correlative Scan Matching
Edwin B. Olson
University of Michigan
Department of Electrical Engineering and Computer Science
Ann Arbor, MI 48109
Email: ebolson@umich.edu
http://april.eecs.umich.edu
提出了一种概率驱动的扫描匹配方法。
Fig. 2. Graphical model for probabilistic scan matching. xi