/PSM

Primary LanguageMATLAB

PSM

  • Author: wyq<771806310@qq.com>
  • This project is written on Matlab based on the polar scan matching algorithm(https://journals.sagepub.com/doi/abs/10.1177/0278364907082042)
  • Example( in test.m)
    • Input
      • dataset: 'seattle.mat'
      • step: 12451
      • interval: 6
      • orient_termination: 0.1[deg]
      • translate_termination: 0.005[m]
    • Output

      • Figure

        image-output

      • Display in Command Window

        BREAK: In PSM 7 Iter, Delta_Translation 0.002700 and Delta_Orientation 0.000246 is Smaller Than Threshold.
    Transmation Matrix
    0.9849    0.1734    0.0743
   -0.1734    0.9849   -0.0400
         0         0    1.0000

    psm_time  psm_error
    0.0217    0.0117