The likelihood field approach to sonar scan matching

@article{Burguera2008TheLF,
  title={The likelihood field approach to sonar scan matching},
  author={Antoni Burguera and Yolanda Gonz{\'a}lez Cid and Gabriel Oliver},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={2977-2982}
}
In this paper, a new method to perform scan matching using sparse sets of noisy readings is presented and tested with sonar sensors. This method, the LF/SoG, does not rely on the establishment of correspondences. The underlying idea is to model one of the scans by a function of x-y-coordinates, the Likelihood Field, depicting the likelihood of obstacle detection. Then, the scan matching problem turns into an optimization problem involving the Likelihood Field and the other scan. Because no… CONTINUE READING