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Simulation-based comparison of 2D scan matching algorithms for different rangefinders

: Qiucheng, Li; Müller, Fabian; Wenzel, Andreas; Rauschenbach, Thomas


Institute of Electrical and Electronics Engineers -IEEE-:
21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016 : 29 August - 1 September 2016, Miedzyzdroje, Poland
Piscataway, NJ: IEEE, 2016
ISBN: 978-1-5090-1866-6 (Online)
ISBN: 978-1-5090-1715-7
International Conference on Methods and Models in Automation and Robotics (MMAR) <21, 2016, Miedzyzdroje>
Conference Paper
Fraunhofer IOSB ()
scan matching; indoor; SLAM; robot

A scan matching technique is a key component for rangefinder-based Simultaneous Localization and Mapping (SLAM). A lot of scan matching techniques have been developed, and normally when a new scan matching technique is developed, it will be compared with existing techniques, but normally there is only one specified type of rangefinder is used, which cannot fully demonstrate the improvement. Nowadays there are plenty types of rangefinders, which differ in maximal range, field of view, accuracy and of course price. In this work, different rangefinders with different scan matching techniques are examined, and a benchmarking system is developed for measuring the performance of each combination. The result of this work can provide suggestions for which kind of rangefinder works best with which kind of scan matching techniques in indoor environment, and therefore can be used as guidelines for the choosing of rangefinder in indoor SLAM application to reduce the price of the system.