Takuya Kaminade

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— The paper presents a new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution grid map. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, even if the input scan points are in the outside of the reference grid area. It also enlarges the convergence area(More)
— A new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs Interactive Closest Point(ICP) algorithm to find(More)
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