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

Table 5

Performances of the approaches in the different series.

	Hall environments		Laboratory environment
	Series 1	Series 2	Series 1	Series 2
PMWN	Good	Good	Good	Good
PSM	Good	Bad	Common	Common
Mb-ICP	Good	Bad	Very good	Common