Abstract
This paper proposes an order-preserving merging method of 2D range scans for enhancing our CIF-based scan matching algorithm which is a global scan matching algorithm using the CIF descriptors and a geometric constraint between keypoints. Our enhanced version of the CIF-based scan matching algorithm can perform global scan matching more robustly in a large cluttered environments without using an initial alignment. Through experiment in real environment, we confirm the validity of our method.
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