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

Table 3

Performance of the three algorithms in the eight scenes.

	Scene 1	Scene 2	Scene 3	Scene 4	Scene 5	Scene 6	Scene 7	Scene 8
PMWN	Good	Good	Good	Good	Common	Good	Good	Common
PSM	Bad	Good	Common	Common	Bad	Common	Common	Bad
Mb-ICP	Common	Common	Common	Common	Bad	Common	Common	Bad