Research Article
Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation
Figure 3
Correspondences establishment of PMWN and PSM.
(a) Reference and current scans |
(b) Reference scan in polar coordinate frame |
(c) Current scan in polar coordinate frame |
(d) Correspondences establishing result of PSM |
(e) Correspondences establishing result of PMWN |