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Robot Localization using Sonar Scan Matching

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Masaad

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Hi all,

I am working on sonar scan matching for localization and map building.I have used an Itereative Closest Point(ICP) to match two scans in the same frame.I have encountered a problem on matching scans which contains curved environments and I couldnot sort out the problem.I will be glad if anyone recommend me how to solve it.

Best regards,
Masaad
 

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