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

Figure 9

Scenes in Environment 1.

(a) Pose estimation of PMWN

(b) Pose estimation of PSM

(c) Pose estimation of Mb-ICP

(d) Convergence procedure of PMWN

(e) Convergence procedure of PSM

(f) Convergence procedure of Mb-ICP

(g) Pose estimation of PMWN

(h) Pose estimation of PSM

(i) Pose estimation of Mb-ICP

(j) Convergence procedure of PMWN

(k) Convergence procedure of PSM

(l) Convergence procedure of Mb-ICP