ROBUST LASER SCANNER MATCHING METHOD CONSIDERING MOVEMENT OF GROUND ROBOT AND APPARATUS THEREOF

摘要

Disclosed are a robust laser scanner matching method considering the movement of a ground robot and an apparatus thereof. According to one embodiment of the present invention, a scan matching method comprises the steps of: receiving two point clouds; sequentially searching for a corresponding point between the two point clouds by sequentially inspecting a height value until the point reaches a specific height range; and performing scan matching between the two point clouds based on the search result of the corresponding point.;COPYRIGHT KIPO 2020