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hector_slam scan matching

asked 2015-06-03 17:37:53 -0500

dona gravatar image

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

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answered 2015-06-03 18:00:35 -0500

Horse-man gravatar image

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/artic...

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Asked: 2015-06-03 17:37:53 -0500

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Last updated: Jun 03 '15