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

Table 1

Primary experiment parameters.

	Maximum distance difference	Maximum rotation angle				Max iterations	Termination condition
PMWN	100 cm	50° ()		30	—	100
PSM	100 cm	50°		—	—	100
Mb-ICP	100 cm	50°		—	3	100	, ,