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(PointCloud, Pose, ProbabilityGrid) -> Pose
Refine a sensor pose relative to a grid map by solving a non-linear least squares problem using bicubic interpolation of grid cell probabilities.
Problem it solves
Discrete scan matching lacks sub-pixel/sub-grid accuracy.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.