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.