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Unsigned Distance Maps on 2D Point Cloud Registration

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

2D point cloud registration arises in laser odometry and Simultaneous Localization and Mapping (SLAM) for mobile robots. Iterative Closest Point (ICP) is one of the most widely used approaches. Still, its iterative procedure recomputes correspondences via nearest-neighbor search at every iteration, whereas correspondence-free alternatives focus on scan-to-map alignment. This paper proposes a 2D point cloud registration approach based on unsigned distance maps, precomputing the Euclidean distance to the nearest reference point, along with its spatial derivatives, over a discrete grid, replacing

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