Point set registration is the process of finding the best alignment between two point sets, and it is a common task in different domains, especially in the automotive and mobile robotics domains. Lots of approaches are proposed in the literature, where the iterative closest point ICP is a well-known approach in this vein, which builds an explicit correspondence between both point sets to achieve the registration task. However, this work is interested in achieving the registration without building any explicit correspondence between both point sets, following a probabilistic framework. The most critical task in point set registration is how to elaborate the cost function, which measures the distance between both point sets. The probabilistic framework includes two possible ways to build the cost function: The summing and the likelihood. The main focus of this work is to analyze and compare the behavior of both approaches. Therefore, a 1D synthetic scenario is used to build the cost function step by step, besides the estimation error. Finally, this work uses two data sets for evaluation: A 2D synthetic data set and a real data set. The evaluation process compares and analyzes the estimation error and estimated uncertainty. Thus, two different methods are used in the evaluation process: The normalized estimation error squared NEES and noncredibility index NCI. A 77 GHz automotive Doppler radar provides the real data set, and in the real evaluation, we evaluate the ego-motion estimation of a robot as an application for the registration.

翻译：点定点登记是在两组点之间找到最佳一致的过程,这是在不同领域,特别是在汽车和移动机器人领域,一个共同的任务。文献中提出了许多方法,文献中提出了建立成本功能的两种可能方法:缩影和可能性。这项工作的主要重点是分析和比较这两种方法的行为。因此,除了估算错误外,采用1D合成假设来一步一步地建立成本功能。最后,这项工作使用两组数据进行评估:2D合成数据集和真实数据集。评估过程比较和分析估算错误和估计不确定性。因此,在评估过程中使用了两种不同的方法:标准化的ANSA 和标准化的ANS 模型。