The scan matchers research and comparison: Monte-Carlo, olson and hough

SLAM (simultaneous localization and mapping) problem appears in robot algorithms when it is necessary to orient in an unknown environment without GPS or some other world communication system. Data for considered SLAM method is received from laser rangefinders and odometry sensors. Scan matching is a localization step of the SLAM problem and the main idea is to find an offset between two laser scans - sets of points that presents a perception of environment from one observed point. Three different scan matchers based on various approaches are compared to determine the most accurate one.