2A2-T05 Robust Global Scan Matching Method using Congruence Transformation Invariant Feature Descriptors and Geometric Constraint Between Keypoints(Localization and Mapping)

Abstract

This paper proposes a new global scan matching algorithm using the CIF descriptors and a geometric constraint between keypoints. The CIF descriptor was proposed in our previous work. It is an feature descriptor that is invariant against a congruence transformation. Our method can perform global scan matching in a cluttered environments without using an initial alignment. Through experiment in real environment, we confirm the validity of our method.