Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation

Figure 17

Experiment in the hall using Series 2 path. ((a), (b), and (c)) The laser sensor is continually placed on footprints of Serial 2 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 in Series 2 path in the hall.

(a) PMWN

(b) PSM

(c) Mb-ICP

(d) PMWN

(e) PSM

(f) Mb-ICP