Scan Matching

Scan Matching is a solution to fix the errors induced by Dead Reckoning. Generally implemented through ICP.

Resources

• Scan Matching slides by F1TENTH

Practice by doing this lab https://github.com/f1tenth/f1tenth_labs_openrepo/blob/main/f1tenth_lab5/lab5.pdf

The key idea of scan matching is that you take two scans, and look for the area of highest overlap in order to align those two scans. You can use those transformations to get a pose estimate.

Various ways to realize scan matching:

• Iterative Closest Point
• Scan-to-scan
• Scan-to-map
• Map-to-map
• Feature based
• RANSAC for outlier rejection