Abstract
The paper presents a new convergence calculation method for the Normal Distributions Transform (NDT) scan matching using high resolution grid map. The proposed method enables to find corresponding point, even if it is out of the reference scan area. The scanning area is enlarged by modifying the eigenvalue of normal distribution. In the high resolution grid map, the point data often become sparse and the normal distribution of the reference scan cannot be built. To solve this problem, the reference scan is enlarged by combining with neighboring reference scan. These methods improve the accuracy of the matching calculation in the high resolution grid map.
