ICE Matching, a Robust Mobile Robot Localization with Application to SLAM

Abstract

Scan matching as a basic part of SLAM has a key role in localization and even mapping of mobile robots. Our innovative method named ICE matching presents a fast and accurate method to solve the challenges of this problem. Novelty in defining new features, matching mechanism and new state estimation approach congregated in this method creates a robust practical technique. Comparison with some high quality scan matching methods from different viewpoints illustrates the performance of ICE matching. It was applied besides Grid based mapping to generate fine tuned maps to compare with slam methods.