選択的統合処理に基づくCIFベース大域的自己位置推定

抄録

This paper proposes a selective merging method of 2D range scans for enhancing our CIF-based scan matching algorithm which is a global scan matching algorithm using the CIF descriptors and a geometric constraint between keypoints. The selective merging method can generate a local map based on “terrain complexity” without fixing the number of scans to use. Our enhanced version of the CIF-based scan matching algorithm can perform global scan matching more robustly in a large cluttered environments without using an initial alignment. Through experiment in real environment, we confirm the validity of our method.