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Open AccessArticle

Scan Matching by Cross-Correlation and Differential Evolution

Faculty of Electrical Engineering and Computer Science, VSB—Technical University of Ostrava, 708 00 Ostrava, Czech Republic
Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada
Author to whom correspondence should be addressed.
Electronics 2019, 8(8), 856;
Received: 28 May 2019 / Revised: 18 July 2019 / Accepted: 30 July 2019 / Published: 1 August 2019
(This article belongs to the Section Microwave and Wireless Communications)
PDF [1597 KB, uploaded 1 August 2019]


Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them. View Full-Text
Keywords: scan matching; indoor localization; differential evolution; cross-correlation; robotics scan matching; indoor localization; differential evolution; cross-correlation; robotics

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Konecny, J.; Kromer, P.; Prauzek, M.; Musilek, P. Scan Matching by Cross-Correlation and Differential Evolution. Electronics 2019, 8, 856.

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