Efficient global scan matching using saliency-based scan point resampling

This paper presents a method of improving the performance of global scan matching with a laser range finder using saliency-based scan point resampling. The proposed method calculates the saliency of each scan point according to the amount of information the scan point has, or the length of the line segment on which the scan point lies. Based on the saliency, the method preserves important scan points and discards redundant scan points. Experimental results show that the proposed method improves the efficiency and accuracy of global scan matching without degrading matching rates.