Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Performance Analysis for Stable Mobile Robot Navigation Solutions



Christopher J. Scrapper Jr, Rajmohan Madhavan, Stephen B. Balakirsky


Robot navigation in complex, dynamic and unstructured environments demands robust mapping and localization solutions. One of the most popular methods in recent years has been the use of scan-matching schemes where temporally correlated sensor data sets are registered for obtaining a Simultaneous Localization and Mapping (SLAM) navigation solution. The primary bottleneck of such scan-matching schemes is correspondence determination, i.e. associating a feature (structure) in one dataset to its counterpart in the other. Outliers, occlusions, and sensor noise complicate the determination of reliable correspondences. This paper describes testing scenarios being developed at NIST to analyze the performance of scan-matching algorithms. This analysis is critical for the development of practical SLAM algorithms in various application domains where sensor payload, wheel slippage, and power constraints impose severe restrictions. We will present results using a high-fidelity simulation testbed, the Unified System for Automation and Robot Simulation (USARSim).
Proceedings Title
Proceedings of the SPIE Defense and Security Symposium
Conference Dates
March 18-20, 2008
Conference Location
Orlando, FL
Conference Title
SPIE Defense and Security Symposium 2008


navigation solutions, scan-matching, ICP, performance analysis, performance evaluation


Scrapper, C. , Madhavan, R. and Balakirsky, S. (2008), Performance Analysis for Stable Mobile Robot Navigation Solutions, Proceedings of the SPIE Defense and Security Symposium, Orlando, FL, [online], (Accessed June 17, 2024)


If you have any questions about this publication or are having problems accessing it, please contact

Created March 20, 2008, Updated February 19, 2017