Albert Diosi's Downloads

Polar Scan Matching (PSM)

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

A. Diosi and L. Kleeman, "Fast Laser Scan Matching using Polar Coordinates" The International Journal of Robotics Research, 26(10):1125-1153, 2007.
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 (221KB). Version 0.3 is released under a BSD style licence. There were numerous changes made: it works now with more laser range finder models as Sick LMS 200, Hokuyo URG-LX04 and Hokuyo UTM-30LX; PSM has been made into a library; a lot of code has been removed to ease maintenance; Doxygen style documentation has been added... There also is a minor interface change: the scan preprocessing functions are no longer accessible separately. Use pm_preprocessScan instead. A FAQ has also been added. This version of PSM is still a work in progress. It compiles under Fedora 11 but linking hangs in the netbook version of Ubuntu 10.04 running on a netbook with 512MB of memory and no swap space. Linking works fine without X11 (by disabling graphics in draw.h).

The previous version is found here (62KB). Version 0.1 of 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.<\P>

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: 09/2010