Probabilistic sonar filtering in scan matching localization

This paper describes a probabilistic sonar Altering technique dealing with sonar cross-talking and multiple reflections. The filtered sonar data is then used to feed the probabilistic scan matching algorithm spIC, which is also described. This scan matching algorithm deals with sonar range and angular errors. Experimental results demonstrate the utility of the combined use of probabilistic filtering and scan matching by evaluating the robustness, accuracy and computational cost. Also, the results obtained with spIC are compared with those provided by well known scan matching algorithms such as ICP and IDC.