FSM: Correspondenceless scan-matching of panoramic 2D range scans
Alexandros Filotheou,Georgios D. Sergiadis,Antonis G. Dimitriou,Alexandros Filotheou,Georgios D. Sergiadis,Antonis G. Dimitriou
Recent years have seen the introduction of more affordable but less accurate 2D range sensors whose field of view is $2\pi$. Scan-matching with these has been insufficiently researched, while being a challenge due to these sensors' increased measurement uncertainty. This paper proposes a real-time method for matching scans extracted from panoramic 2D LIDAR sensors. The method leverages properties ...
