Time Based Correspondences Using Sonar Scan Matching

Scan Matching (SM) is a technique to estimate the robot pose by computing the overlap between two successive range scans. Several SM algorithms have been developed in last decades and, although they work well enough with laser data, they are less powerful when treating data from ultrasonic sensors, which are more scattered and noisy. In this paper we present a new SM algorithm whose main contribution is a time measurement instead of distance between the scan data points, particularly focused on ultrasonic applications.