Volume 11 Issue 6
Dec.  2018
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Chinese Optics  > 2018  >  11(6): 914-930.
ZONG Wen-peng, LI Guang-yun, LI Ming-lei, WANG Li, LI Shuai-xin. A survey of laser scan matching methods[J]. Chinese Optics, 2018, 11(6): 914-930. doi: 10.3788/CO.20181106.0914
Citation: ZONG Wen-peng, LI Guang-yun, LI Ming-lei, WANG Li, LI Shuai-xin. A survey of laser scan matching methods[J]. Chinese Optics, 2018, 11(6): 914-930. doi: 10.3788/CO.20181106.0914
shu

A survey of laser scan matching methods

  • Information Engineering University, Zhengzhou 450001, China

Funds:

National Natural Science Foundation of China 41274014

National Natural Science Foundation of China 41501491

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  • Corresponding author: ZONG Wen-peng, E-mail:la9881275@163.com
  • Received Date: 25 Dec 2017
  • Rev Recd Date: 02 Feb 2018
  • Publish Date: 01 Dec 2018
    Abstract
  • Laser scan matching is a foundation for navigation, localization and mapping using Light Detection and Ranging(LiDAR). Various laser scan matching methods are reviewed in detail in this paper. The existing methods are divided into three categories:point-based scan matching method, feature-based scan matching method and mathematical property-based scan matching method, and the common algorithms of corresponding categories are summarized systematically. The typical algorithms and their improved algorithms are outlined, the main issues and development trends are discussed. Then, the latest research progress of performance evaluation and comparison of laser scan matching methods is introduced. Finally, the future research directions of laser scan matching technology are prospected.

     

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