2A1-O04 An Consideration on Corresponding Points in ICP Scan Matching Based on View Range of SOKUIKI Sensor(Localization and Mapping)
Taku SHIKINA, Shin’ichi Yuta · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
The purpose of this research is to avoid the error in the search of corresponding point pairs in ICP scan matching. In the scan matching by ICP algorithm, the limited range of sensor and the occlusion area make problem of mis-corresponding between scanned points when the view-point moves. This paper proposes the method to remove the scanned points which has no corresponding one by testing the occlusion or out-of-range area in scan data. This method is based on the geometry, and it has no parameters to be tuned as a good feature.