Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation

Table 2

Dynamic objects robustness verification in position .

(mm)	(mm)	(°)	(%)	(mm)	(mm)	(°)	(%)
5 obstacles 2 m				5 obstacles 1 m
600	−800	30	44	600	−800	30	33
600	−800	30	45	600	−800	30	29
600	−800	30	44	600	−800	30	30
600	−800	30	40	600	−800	30	25
600	−800	30	38	600	−800	30	23
5 obstacles 1.5 m				5 obstacles 0.5 m
600	−800	30	44	600	−800	30	26
600	−800	30	41	1000	−400	38	21
600	−800	30	37	400	3200	34	18
600	−800	30	35	600	−800	30	38
600	−800	30	31	600	−800	30	23