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Adv. Signal Process."],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Autonomous navigation in large-scale and complex environments in the absence of a GPS signal is a fundamental challenge encountered in a variety of applications. Since 3-D scans provide inherent robustness to ambient illumination changes and the type of the surface texture, we present Point Cloud Map-based Navigation (PCMN), a robust robot navigation system, based exclusively on 3-D point cloud registration between an acquired observation and a stored reference map. It provides a drift-free navigation solution, equipped with a failed registration detection capability. The backbone of the navigation system is a robust point cloud registration method, of the acquired observation to the stored reference map. The proposed registration algorithm follows a hypotheses generation and evaluation paradigm, where multiple statistically independent hypotheses are generated from local neighborhoods of putative matching points. Then, hypotheses are evaluated using a multiple consensus analysis that integrates evaluation of the point cloud feature correlation and a consensus test on the Special Euclidean Group SE(3) based on independent hypothesized estimates. The proposed PCMN is shown to achieve significantly better performance than state-of-the-art methods, both in terms of place recognition recall and localization accuracy, achieving submesh resolution accuracy, both for indoor and outdoor settings.<\/jats:p>","DOI":"10.1186\/s13634-024-01153-z","type":"journal-article","created":{"date-parts":[[2024,5,1]],"date-time":"2024-05-01T14:40:23Z","timestamp":1714574423000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Robust point cloud registration for map-based autonomous robot navigation"],"prefix":"10.1186","volume":"2024","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9895-6278","authenticated-orcid":false,"given":"Amit","family":"Efraim","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joseph M.","family":"Francos","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,4,30]]},"reference":[{"key":"1153_CR1","doi-asserted-by":"crossref","unstructured":"J. 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