Using Robust Spectral Registration for Scan Matching of Sonar Range Data

Abstract Scan matching is the process of registering two range scans and is usually applied to laser data. However, such precise sensors are unavailable in underwater environments. Specific algorithms to match sonar range scans have been proposed, but require significant interpretative analysis of the scan to extract range readings similar to laser scanners. This paper presents a fast and robust scan matching method based on spectral registration of rendered scan data. Sonar scans do not need to be pre-processed, other than simple thresholding. The method is tested on a publicly available data set recorded in an abandoned marina.

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