Real-Time Correlative Scan Matching

2D激光雷达SLAM扫描匹配算法 real-time correlative scan matching Abstract— Scan matching, the problem of registering two laser scans in order to determine the relative positions from which the scans were obtained, is one of the most heavily relied-upon tools for mobile robots. Current algorithms, in a trade-off for computational performanc e, employ heuristics in order to quickly compute an answer. Of course, these heuristics are imperfect: existing methods can produce poor results, particularly when the prior is weak. e, employ heuristics in order to quickly compute an answer. Of course, these heuristics are imperfect: existing methods can produce poor results, particularly when the prior is weak.