# Map Registration

LIDAR depth sensor \(Light Detection and Ranging\), 通常嵌入在激光雷达中，提供一个二维或三维的点，可建模如下： ![Alt text](../../../../../../../.gitbook/assets/1546193899530.png)

地图配准即是在已知一个全局地图的情况下，将LIDAR depth sensor的当前读数与之匹配，如下图所示： ![Alt text](../../../../../../../.gitbook/assets/1546193952850.png)

![Alt text](../../../../../../../.gitbook/assets/1546193969018.png) ![Alt text](../../../../../../../.gitbook/assets/1546193984129.png) ![Alt text](../../../../../../../.gitbook/assets/1546193989361.png)

$a-b$