HSM 2012-12-05

Andrea Censi, Luca Iocchi, and Giorgio Grisetti. Scan matching in the Hough domain. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2739–2744. Barcelona, Spain, 2005. pdfdoi supp. material slidesbibtex

The research work I did for my bachelor thesis resulted in a novel scan matching algorithm called Hough Scan Matching that DOES NOT require line features. Its main characteristics are the possibilities to do global and multimodal searches, to work in unstructured environments and with very noisy sensors. It is provably complete for exact input.

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Please link here using the PURL: http://purl.org/censi/2006/hsm.