Albert Diosi's Downloads

Polar Scan Matching (PSM)

The polar scan matching (PSM) approach source code without the SLAM part described in:

A. Diosi and L. Kleeman, "Laser Scan Matching in Polar Coordinates with Application to SLAM " Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, Edmonton, Canada
A. Diosi and L. Kleeman, "Scan Matching in Polar Coordinates with Application to SLAM " Technical Report MECSE-29-2005, Intelligent Robotics Research Centre, Monash University, 2005.

can be downloaded here (62kB). The polar matching program is licensed under the GNU public license (GPL). The program has been tested under Red Hat 9.0 and Mandrake 10.0 with Sick LMS laser scans. This PSM implementation assumes 180deg scans with 1deg bearing resolution.

Disclaimer: This website is not authorised by Monash University and any opinions expressed on these pages are those of the author and not those of the University.

Last changed: 02/08/2005