The normal distributions transform: a new approach to laser scan matching

  title={The normal distributions transform: a new approach to laser scan matching},
  author={Peter Biber and Wolfgang Stra{\ss}er},
  journal={Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},
  pages={2743-2748 vol.3}
  • P. Biber, W. Straßer
  • Published 2003
  • Mathematics, Computer Science
  • Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Matching 2D range scans is a basic component of many localization and mapping algorithms. [...] Key Method Similar to an occupancy grid, we subdivide the 2D plane into cells. To each cell, we assign a normal distribution, which locally models the probability of measuring a point. The result of the transform is a piecewise continuous and differentiable probability density, that can be used to match another scan using Newton's algorithm. Thereby, no explicit correspondences have to be established.Expand
3D Multi-Layered Normal Distribution Transform for Fast and Long Range Scan Matching
A novel method called Multi-Layered Normal Distribution Transform using various cell sizes in a structured manner is introduced, and the results show that ML-NDT with grid based sampling provides a fast and long range scan matching capability. Expand
Efficient localization based on scan matching with a continuous likelihood field
This paper presents a fast scan matching approach to mobile robot localization supported by a continuous likelihood field and shows to be a fast and accurate localization algorithm suitable for any type of operation. Expand
The registration of scan data often uses special markers which are placed in the scene. This leads to a reliable registration but the method is not very efficient. Therefore, we search for aExpand
Beyond points: Evaluating recent 3D scan-matching algorithms
A thorough comparison of 3D scan registration algorithms using a recently published benchmark protocol which makes use of a publicly available challenging data set that covers a wide range of environments concludes that algorithms using the normal distributions transform (NDT) provides accurate results compared to a modern implementation of the iterative closest point (ICP) method. Expand
3D Scan Registration Using Curvelet Features
This work proposes an alternative approach to 3D scan registration using the curve let transform that performs multi-resolution geometric analysis to obtain a set of coefficients indexed by scale (coarsest to finest), angle and spatial position. Expand
ICP based on Polar Point Matching with application to Graph-SLAM
To solve the range scan matching problem, this paper describes a matching rule for points in polar coordinate, i.e. PPMR (Polar Point Matching Rule), which takes into account both rotation andExpand
A Global Line Matching algorithm for 2D laser scan matching in regular environment
This work proposes a real-time laser scan matching method named Global Line Matching, which matches current scan frame to the global map, leading to a better result. Expand
Fast Laser Scan Matching using Polar Coordinates
In this paper a novel Polar Scan Matching (PSM) approach is described that works in the laser scanner's polar coordinate system, therefore taking advantage of the structure of the laser measurementsExpand
Gsr: Geometrical Scan Registration Algorithm for Robust and Fast Robot Pose Estimation
Undoubtedly robot localization in indoors environment where environmental information is obtained by laser range finders, which provide partial and simple information about surrounding of robots, isExpand
On the use of likelihood fields to perform sonar scan matching localization
Three scan matching algorithms based on the Likelihood Field based approach are introduced and compared to previously existing ICP-based algorithms, suggesting that this approach compares favorably with algorithms from the ICP family in terms of robustness and accuracy. Expand


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A heuristic method has been developed for registering two sets of 3-D curves obtained by using an edge-based stereo system, or two dense3-D maps obtained by use a correlation-based stereoscopic system, and it is efficient and robust, and yields an accurate motion estimate. Expand
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A map for an autonomous mobile robot (AMR) in an indoor environment for the purpose ofcontinuous position and orientation estimation is discussed. Unlike many other approaches, this map is not basedExpand
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