readme

利用极坐标系统对机器人所携带的激光传感器所测得的数据进行匹配

polar_matching is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.

polar_matching is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with polar_matching; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
**************************************************************************

polar_matching is an implementation of the Polar Scan Matching (PSM)
approach and can be downloaded at www.irrc.monash.edu.au/adiosi. 
More about PSM can be found 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.

Code for simultaneous localization and mapping (SLAM) is not
distributed in this package. This package contains only laser scan
matching approaches PSM, PSM-C, ICP and code for their testing. The
scan matching approaches assume 180deg laser scans with 1deg
resolution. The scan matching approaches have been tested only using
Sick LMS measurements.

polar_matching has been tested only on Red Hat 9.0 and Mandrake 10.
The drawing part of polar_matching requires X11, therefore it won't
run under Windows.

INSTALLATION INSTRUCTIONS

In a Linux console unzip polar_matching_v0_1.zip by typing 
"unzip polar_matching_v0_1.zip". Go into the directory polar_matching 
by typing "cd polar_matching". Compile the program by typing "make" 
Run the program by typing "./xmatch".

Upon starting polar_matching, the program runs the ground truth
experiment described in the technical report mentioned above. Scan
matching results are stored in subdirectory "results".



I hope that despite the bad documentation and messy coding
polar_matching will be useful to someone. If you have got any
questions or comments please write me an email. If I'll have time
I'll reply.

It is likely that in the future there will be a version 0.2 of
polar_matching.


Albert Diosi, 2005
[e-mail]