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SCAN MATCHING WITHOUT ODOMETRY INFORMATION Francesco Amigoni, Simone Gasparini
 

Summary: SCAN MATCHING WITHOUT ODOMETRY INFORMATION
Francesco Amigoni, Simone Gasparini
Dipartimento di Elettronica e Informazione, Politecnico di Milano
Piazza Leonardo da Vinci 32, 20133 Milano, Italy
Email: amigoni@elet.polimi.it, gasparin@elet.polimi.it
Maria Gini
Dept of Computer Science and Engineering, University of Minnesota
Minneapolis, USA
Email: gini@cs.umn.edu
Keywords: Scan Matching. Robot Mapping. Laser Range Scanner.
Abstract: We present an algorithm for merging two partial maps obtained with a laser range scanner into a single map.
The most unique original aspect of our algorithm is that it does not require any information on the position
where the scans were collected but uses only geometrical features of the scans.
1 INTRODUCTION
The increasing use of mobile robots equipped with
laser range scanners has stimulated the development
of methods for matching and aligning scan data col-
lected by these sensors. Usually these methods align
two scans starting from some information about the
relative position of the sensors obtained from odome-

  

Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano

 

Collections: Computer Technologies and Information Sciences