【文件属性】:
文件名称:Real-Time Correlative Scan Matching
文件大小:770KB
文件格式:PDF
更新时间:2020-10-02 13:18:24
SLAM
2D激光雷达SLAM扫描匹配算法 real-time correlative scan matching
Abstract— 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. Current algorithms, in a trade-off for
computational performance, employ heuristics in order to quickly
compute an answer. Of course, these heuristics are imperfect:
existing methods can produce poor results, particularly when
the prior is weak.