Pose-Based EKF-SLAM Using NDT Scan Matching and Loop Closure for Indoor Robot Navigation

Key research contributions include:
1. Robust Scan Matching: Using NDT instead of ICP for faster convergence and greater stability in sparse indoor environments.
2. Reliable Loop Closure: A rigorous validation pipeline using overlap ratio, fitness score, and Mahalanobis distance to ensure accurate loop detection and prevent false corrections.
3. Effective Sensor Fusion: Fusing encoder odometry, IMU orientation, and NDT pose corrections within a single EKF framework to maintain a globally consistent trajectory.
4. Real-World Validation: Successfully deployed on a TurtleBot in both simulation and real indoor settings, demonstrating bounded uncertainty and effective drift reduction.