STRONG LASER SCANNER MATCHING METHOD AND APPARATUS CONSIDERING MOVEMENT OF GROUND ROBOT

Abstract

Robust laser scanner matching method and device considering a movement of a ground robot are disclosed. A scan matching method according to an embodiment of the inventive concept includes receiving two point clouds, sequentially inspecting height values until a point is within a specific height range to search for correspondence points between the two point clouds, and performing scan matching between the two point clouds based on the search result of the correspondence points.