The presented shape matching is utilized in a sample application of tracking shape features. Data obtained from the Bremen autonomous wheelchair on an indoor course at the University of Bremen.
The demonstration presents the processed data scan by scan. The robot's position is marked by a red triangle, individual shapes are depicted in different colors. Whenever a new shape feature emerges, it is emphasized. For viewing convenience, scans are aligned as determined by the matching. The grid shown is 1 meter in size.