| CPC G06V 20/56 (2022.01) [G01S 17/89 (2013.01)] | 8 Claims |
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1. A scan matching method comprising:
receiving two point clouds generated by a 3D light detection and ranging (LiDAR) sensor of an autonomous ground vehicle or a mobile ground robot;
sequentially inspecting height values until a point is within a specific height range to search for correspondence points between the two point clouds; and
searching for the correspondence points, wherein the searching includes:
dividing the height range into layers along a z-axis;
searching for a correspondence point between the two point clouds in three of the layers based on the height range of each of the three layers, wherein the three layers include a relevant layer, an upper layer above the relevant layer along the z-axis, and a lower layer below the relevant layer along the z-axis;
searching for nearest points respectively in the relevant layer, the upper layer, and the lower layer; and
selecting the nearest point among the searched three points as the correspondence point; and
performing scan matching between the two point clouds based on the search result of the correspondence points.
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