Scan matching in the Hough domain Andrea Censis website扫描匹配在Hough域安德列CENSI网站.pptVIP

Scan matching in the Hough domain Andrea Censi, Luca Iocchi, Giorgio Grisetti lastname @ dis.uniroma1.it www.dis.uniroma1.it/~lastname Scan matching 2D scan matching (geometric interpretation): find a rotation ? and a translation T who maximize overlapping of two sets of 2D data. 2D scan matching (probabilistic interpretation): approximate a pdf of the robot pose; ex: p(xt|xt-1, ut-1, yt, yt-1) or others... Previous research Existing methods differ by: assumptions about environment (ex: features?) assumptions about sensing devices (noise, FOV) assumptions about the search domain (lo