Abstract：A global scan matching method is proposed to study how to synchronize robot localization, environmental profile characterization and changed regions discrimination in dynamic environment. In the proposed method, a probeverifysolve (PVS) matching strategy is described. Highlevel geometric statistic features are defined for laser scan segments and scan points. After precise matching between scan data, the environmental profile can be characterized and meanwhile the robot pose can be rectified. Changes in the environment are discriminated using PVS matching strategy. Finally, the proposed method is verified through experiments using several real laser datasets in unknown dynamic indoor environments, and the effectiveness of the proposed method is proved.
2011, Vol. 24 
