Probabilistic scan matching for motion estimation in unstructured environments

摘要

This paper presents a probabilistic scan matching algorithm to estimate the robot planar displacement by matching dense two-dimensional range scans. The general framework follows an iterative process of two steps: (i) computation of correspondences between scans, and (ii) estimation of the relative displacement. The contribution is a probabilistic modelling of this process that takes into account all the uncertainties involved: the uncertainty of the displacement of the sensor and the measurement noises. Furthermore, it also considers all the possible correspondences resulting from these uncertainties. This technique has been implemented and tested on a real vehicle. The experiments illustrate how the performances of this method are better than previous geometric ones in terms of robustness, accuracy and convergence.