R. Tiar, N. Ouadah, O. Azouaoui, M. Djehaich, H. Ziane, N. Achour
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引用次数: 9
Abstract
Scan matching is a popular way of recovering a mobile robot's motion and constitutes the basis of many localization and mapping approaches. The work presented in this paper consists in the implementation of a SLAM method (Simultaneous Localization and Mapping) based on the Iterative Closest Points (ICP) algorithm on the Robucar, a car-like mobile robot. Two variants are considered related to the error metric minimization. These variants of ICP-SLAM have been implemented and tested on the robot for performance's comparison.
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