UPenn

 A

 

 

 

 

 

 

 

 

 

Here, theta encompasses 270 degrees, not a full circle.

  

The laser scanner can only see 10 to 30 meters away.

  

In this range restriction, means that distance measurements

 

showing here is black dots, can only be found within the area in green.

 

 

The complimentary stages of mapping and localization when performed together

are known as SLAM, simultaneous localization and

mapping, which is a major research topic in robotics.

 

 

  

we have some tricks to make the search easier.

We can constrain the search to a limited number of poses based on odometry information.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

http://www.cnblogs.com/maybe2030/p/5043356.html

 https://blog.csdn.net/heyijia0327/article/details/40899819

 https://www.cnblogs.com/21207-iHome/p/5237701.html

 

 

 

    

    

so, we need to find a rotation and translation that move the measured points to match the model points.

         

The strategy of the ICP algorithm takes an optimistic assumption that the point sets are close enough.