Scan Matching in the Hough Domain

— Scan matching is used as a building block in many robotic applications, for localization and simultaneous localization and mapping (SLAM). Although many techniques have been proposed for scan matching in the past years, more efficient and effective scan matching procedures allow for improvements of such associated problems. In this paper we present a new scan matching method that, exploiting the properties of the Hough domain, allows for combining advantages of dense scan matching algorithms with featurebased ones.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Andrea Censi, Luca Iocchi, Giorgio Grisetti
• Keywords: ICRA 2005, Robotics, Scan Matching, Scan Matching Method, Scan Matching Procedures