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Firstly, the whole raw laser data is segmented into groups of consecutive range readings using a distance-based criterion and the curvature function for each group is computed. Then, this set of curvature functions is matched to the set of curvature functions associated to the previously acquired laser scan. Finally, characteristic points of pairwise curvature functions are matched and used to correctly obtain the best local alignment between consecutive scans. A closed form solution is employed for computing the optimal transformation and minimizing the robot pose shift error without iterations. Thus, the system is outstanding in terms of accuracy and computation time. The implemented algorithm is evaluated and compared to three state of the art scan matching approaches.<\/jats:p>","DOI":"10.1017\/s0263574708004840","type":"journal-article","created":{"date-parts":[[2008,7,10]],"date-time":"2008-07-10T09:02:30Z","timestamp":1215680550000},"page":"469-479","source":"Crossref","is-referenced-by-count":22,"title":["Fast laser scan matching approach based on adaptive curvature estimation for mobile robots"],"prefix":"10.1017","volume":"27","author":[{"given":"P.","family":"N\u00fa\u00f1ez","sequence":"first","affiliation":[]},{"given":"R.","family":"V\u00e1zquez-Mart\u00edn","sequence":"additional","affiliation":[]},{"given":"A.","family":"Bandera","sequence":"additional","affiliation":[]},{"given":"F.","family":"Sandoval","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,5,1]]},"reference":[{"key":"S0263574708004840_ref14","unstructured":"14. Pfister S. , Algorithms for Mobile Robot Localization and Mapping, Incorporating Detailed Noise Modeling and Multi-Scale Feature Extraction Ph.D. Thesis (California Institute of Technology, 2006), Pasadena, California, USA."},{"key":"S0263574708004840_ref11","unstructured":"11. Montemerlo M. , FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem with Unknown Data Association Ph.D. Thesis (Carnegie Mellon University, 2003), Pittsburgh, Pensilvania, USA."},{"key":"S0263574708004840_ref8","first-page":"206","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"H\u00e4hnel","year":"2003"},{"key":"S0263574708004840_ref3","first-page":"2061","volume-title":"IEEE International Conference on Robotics and Automation","author":"Blanco","year":"2007"},{"key":"S0263574708004840_ref4","doi-asserted-by":"publisher","DOI":"10.1023\/B:JINT.0000038945.55712.65"},{"key":"S0263574708004840_ref10","first-page":"8","volume-title":"Technical Report No. RBCV-TR-94-46","author":"Lu","year":"1994"},{"key":"S0263574708004840_ref7","doi-asserted-by":"crossref","unstructured":"7. Gutmann J. 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