Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation

Table 1

The dynamic objects robustness verification in zero position.

(mm)	(mm)	(°)	(%)	(mm)	(mm)	(°)	(%)
5 obstacles 2 m				5 obstacles 1 m
0	0	0	77	0	0	0	53
0	0	0	69	0	0	0	53
0	0	0	70	0	0	0	56
0	0	0	76	0	0	0	61
0	0	0	72	0	0	0	59
5 obstacles 1.5 m				5 obstacles 0.5 m
0	0	0	67	0	0	0	34
0	0	0	67	0	0	0	21
0	0	0	64	3000	3200	28	11
0	0	0	65	3000	3200	38	7
0	0	0	63	0	0	0	27