Mobile robot motion estimation by 2D scan matching with genetic and iterative closest point algorithms

@article{Martnez2006MobileRM,
  title={Mobile robot motion estimation by 2D scan matching with genetic and iterative closest point algorithms},
  author={Jorge L. Mart{\'i}nez and Javier Gonz{\'a}lez and Jes{\'u}s Morales and Anthony Mandow and Alfonso Garc{\'i}a-Cerezo},
  journal={J. Field Robotics},
  year={2006},
  volume={23},
  pages={21-34}
}
The paper reports on mobile robot motion estimation based on matching points from successive two-dimensional (2D) laser scans. This ego-motion approach is well suited to unstructured and dynamic environments because it directly uses raw laser points rather than extracted features. We have analyzed the application of two methods that are very different in essence: (i) A 2D version of iterative closest point (ICP), which is widely used for surface registration; (ii) a genetic algorithm (GA… CONTINUE READING
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