抄録
In this paper, we propose a fast and reliable scan matching method so that it can be used in the cluttered environment. To speed up the processing time, our method utilize coarse-to-fine strategy. First, our method employs histgram matching approach to estimate displacements of position and orientation roughly. Second, to estimate them accurately, our method employ constrained least square method based on the formulation using poin-to-line metric. Such metric is also effective to the cluttered environment. The experimental results show the usefulness of our method.
