DENDT: 3D-NDT scan matching with Differential Evolution

摘要

Scan matching is one of the most important tasks that must be solved to achieve simultaneous localization and mapping with autonomous mobile robots. This paper shows the development and results of a new 3D scan matching algorithm based on the Normal Distribution Transform and the bio-inspired optimization algorithm Differential Evolution. Different tests have been carried out to show the good performance of the new solution to the scan matching problem.