A bio-inspired scan matching algorithm for mobile robots in outdoor environments

Purpose The most prominent example of scan matching algorithm is the Iterative Closest Point (ICP) algorithm. But the ICP algorithm and its variants excessively depend on the initial pose estimate between two scans. The purpose of this paper is to propose a scan matching algorithm, which is adaptable to big initial pose errors. Design/methodology/approach The environments are represented by flat units and upright units. The upright units are …