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hector_slam scan matching

Hi, what type of scan matching is used in hector slam

Asked by dona on 2015-06-03 17:37:53 UTC

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It is based on the Gauss-Newton method in order to find the optimum transformation for a certain function that minimize the error between the alignment of the laser scan and the map.

For more information, see the section 3.3.2 of this paper : http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4299068/

Asked by Horse-man on 2015-06-03 18:00:35 UTC

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