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Springer Tracts in Advanced Robotics
Simultaneous Localization and Mapping (SLAM) iteratively builds a map of the environment by putting each new observation in relation with the current map. This relation is usually done by scan matching algorithms such as Iterative Closest Point (ICP) where two sets of features are paired. However as ICP is sensitive to outliers, methods have been proposed to reject them. In this article, we present a new rejection technique called Relative Motion Threshold (RMT). In combination with multipledoi:10.1007/978-3-642-13408-1_21 fatcat:mzehtqpcijcw3a4bwuvbm5k4tm