Does Gmapping uses ICP scan matching technique?

asked 2019-07-31 02:41:01 -0500

tsdk00 gravatar image

Hi, I have a simple question. So, when we run the gmapping node, which scan matching technique is used by default, is it ICP or scan to scan or map to map or any other. I checked at the OpenSLAM, and it has multiple techniques but not sure whether it uses ICP by default or not.

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