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ICE Matching, a Novel Approach for Localization Problem
Maziar A.Sharbafi,Sanaz Taleghani,Edriss Esmaeili,Abolfazl T.Haghighat,Omid Aghazadeh 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper presents a novel technique for scan matching. The method is based on the family of feature to feature matching approaches. Our innovative method named ICE matching leads to a fast and accurate solution to solve the challenges of localization problem. Novelty in defining new features, matching mechanism and new state estimation approach, congregated in this method, creates a robust practical technique in terms of accuracy and convergence rate. Furthermore, The Comparison with some high quality scan matching methods from different viewpoints illustrates the performance of ICE matching.