{'fraction_non_alphanumeric': 0.01615798922800718, 'fraction_numerical': 0.003590664272890485, 'mean_word_length': 5.340909090909091, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Toward a Metric-Based Scan Matching Algorithm for Displacement Estimation in 3D Workspaces

This paper addresses the scan matching problem in three dimensional workspaces. The novel concept is to modify the metric used in the Iterative Closest Point (ICP) framework. The new distance compensates sensor translation and rotation simultaneously. The contribution here is the development of all the mathematical tools required to formulate the ICP with this new metric. Furthermore, we show preliminary results of 3D scan alignment to validate the development.