Scan matching method using projection in dominant direction of indoor environment

Shigeru Bando, Takashi Tsubouchi, Shin'Ichi Yuta

Research output: Contribution to journalArticle

2 Citations (Scopus)


In this paper, we propose a new scan matching method, which uses the feature of structure in an artificial environment where walls are located parallel or perpendicular to one another. This method can precisely obtain the relative pose between two scan data using the dominant direction with a small calculation cost. Efficacy of this method is proved by an experiment conducted in an indoor environment.

Original languageEnglish
Pages (from-to)1243-1251
Number of pages9
JournalAdvanced Robotics
Issue number18
Publication statusPublished - 2014 Sep 17



  • dominant direction
  • indoor
  • mobile robot
  • scan matching

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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