Research Article
Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation
Figure 16
Experiment in hall using Series 1 path. ((a), (b), and (c)) The laser sensor is continually placed on footprints of Serial 1 path using PMWN, PSM, and Mb-ICP, respectively, to map the hall. ((d), (e), and (f)) Compare the pose estimation of PMWN, PSM, and Mb-ICP, respectively, with the true pose of Series 1 path in the hall.
(a) PMWN |
(b) PSM |
(c) Mb-ICP |
(d) PMWN |
(e) PSM |
(f) Mb-ICP |