Odometry-prefered scan matching method

In this paper, we address the problem of estimating rigid body transformations in two-dimensional space. A new probabilistic weight function is proposed to find a solution closes to odometry information more preferably. The weight function is motivated by hypothesis that a solution of a scan matching problem which prefers odometry information may show better performance in terms of accuracy and convergence. Through the test with three real data sets, our hypothesis was confirmed.