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

Table 2

Results of the average pose estimation using the large step size.

	Scene 1	Scene 2	Scene 3	Scene 4	Scene 5	Scene 6	Scene 7	Scene 8	Average iterations	Average time (ms)
True data	−4 cm	−30 cm	0 cm	−60 cm	−60 cm	−60 cm	50 cm	60 cm
	30 cm	10 cm	70 cm	60 cm	60 cm	50 cm	20 cm	60 cm
	16°	7°	−22°	14°	0°	15°	20°	0°
PMWN	−4.4 cm; 30.6 cm; 15.89°	−31.1 cm; 8.6 cm; 7.06°	1 cm; 68.9 cm; −22.45°	−60.9 cm; 61.3 cm; 13.7°	−60.9 cm; 58.3 cm; 1.84°	−56.4 cm; 49.2 cm; 14.6°	49.1 cm; 20.2 cm; 21°	55.9 cm; 63.1 cm; 3.07°	24	105.2
PSM	−12.1 cm; −12.4 cm; −73.09°	−30.8 cm; 8.6 cm; 7.81°	−1.3 cm; 73.4 cm; −22.87°	−65.8 cm; 60.6 cm; 13.1°	−59.7 cm; 54.8 cm; 1.62°	−58.4 cm; 52 cm; 14.8°	49.9 cm; 20.1 cm; 21.16°	256.6 cm; 75.2 cm; 3.1°	36.1	134.4
Mb-ICP	−4.6 cm	−31.1 cm	−0.7 cm	−58.7 cm	−59.6 cm	−59.6 cm	47.4 cm	5.5 cm	30.9	138.8
	30.3 cm	8.3 cm	70.35 cm	60.5 cm	5.7 cm	49 cm	19.7 cm	60.1 cm
	15.43	6.92°	−22.79°	14.14°	1.48°	14.7°	21°	3.09°