文件列表:

scan_matching\correlate_variance (0, 2004-11-18)
scan_matching\correlate_variance\version1_gauss_svd (0, 2004-11-20)
scan_matching\correlate_variance\version1_gauss_svd\align_svd.m (1807, 2004-11-20)
scan_matching\correlate_variance\version1_gauss_svd\data.mat (6096, 2004-11-20)
scan_matching\correlate_variance\version1_gauss_svd\demo_gauss_svd.m (1130, 2004-11-20)
scan_matching\correlate_variance\version1_gauss_svd\gauss_variance_svd.m (857, 2004-09-09)
scan_matching\correlate_variance\version1_gauss_svd\make_gaussian_sum.m (730, 2004-09-07)
scan_matching\correlate_variance\version1_gauss_svd\sigma_ellipse.m (331, 2004-10-20)
scan_matching\correlate_variance\version1_gauss_svd\sog_correlate.dll (65536, 2004-11-19)
scan_matching\correlate_variance\version1_gauss_svd\sog_optimise.dll (73728, 2004-11-19)
scan_matching\correlate_variance\version1_gauss_svd\transform_to_global.m (479, 2004-10-21)
scan_matching\correlate_variance\version2_importance_sampling (0, 2004-11-20)
scan_matching\correlate_variance\version2_importance_sampling\data.mat (6096, 2004-11-20)
scan_matching\correlate_variance\version2_importance_sampling\demo_importance_gauss.m (1172, 2004-11-20)
scan_matching\correlate_variance\version2_importance_sampling\importance_gaussian.m (1097, 2004-11-20)
scan_matching\correlate_variance\version2_importance_sampling\make_gaussian_sum.m (730, 2004-09-07)
scan_matching\correlate_variance\version2_importance_sampling\multivariate_gauss.m (388, 2004-10-22)
scan_matching\correlate_variance\version2_importance_sampling\sample_mean.m (842, 2002-02-11)
scan_matching\correlate_variance\version2_importance_sampling\sigma_ellipse.m (331, 2004-10-20)
scan_matching\correlate_variance\version2_importance_sampling\sog_correlate.dll (65536, 2004-11-19)
scan_matching\correlate_variance\version2_importance_sampling\stratified_random.m (337, 2003-12-05)
scan_matching\correlate_variance\version2_importance_sampling\stratified_resample.m (790, 2004-10-20)
scan_matching\correlate_variance\version2_importance_sampling\transform_to_global.m (479, 2004-10-21)
scan_matching\least_squares_align (0, 2004-11-17)
scan_matching\least_squares_align\align_least_squares.m (2457, 2004-11-17)
scan_matching\least_squares_align\data.mat (1319672, 2004-11-16)
scan_matching\least_squares_align\demo_least_squares.m (2234, 2004-11-19)
scan_matching\least_squares_align\pi_to_pi.m (569, 2004-07-19)
scan_matching\least_squares_align\transform_to_global.m (479, 2004-10-21)
scan_matching\mexdemos (0, 2004-11-19)
scan_matching\mexdemos\demo_icp.m (1228, 2004-11-19)
scan_matching\mexdemos\demo_icp_2.m (1654, 2004-11-19)
scan_matching\mexdemos\demo_icp_3.m (1285, 2004-11-19)
scan_matching\mexdemos\demo_k_neighbours.m (805, 2004-11-18)
scan_matching\mexdemos\demo_nearest_neighbour.m (682, 2004-11-18)
scan_matching\mexdemos\demo_sog_correlate.m (4641, 2004-11-19)
scan_matching\mexdemos\demo_sog_optimise.m (1118, 2004-11-19)
scan_matching\mexdemos\icp.dll (65536, 2004-11-19)
scan_matching\mexdemos\k_neighbours.dll (61440, 2004-11-18)
scan_matching\mexdemos\laserdata.mat (7558752, 2002-01-21)
... ...

Scan Matching, Tim Bailey 2004. ------------- This collection of MatLab scripts, mex-functions and C++ code is a set of code for aligning scans of 2D point data. In particular, it is designed to facilitate matching of laser-scans. The directories and their contents are listed below. The first 3 are related and contain code and demos of scan-matching mex-files. The last 2 contain MatLab scripts: the former has m-files for computing scan-match covariances, and the latter has m-files for batch least-squares alignment of a set of scan-match estimates. mexdemos -------- This directory has a number of files prefixed "demo" which demonstrate the usage of the scan-matching mex-files. These demos are reasonably well documented and self-explanatory. They show how to perform iterated closest point (ICP) scan alignment and Sum of Gaussian (SoG) correlation. They also show some 2D nearest-neighbour routines. mexfiles -------- This directory contains the source code for all the mex-files. There is also a MS Visual C++ 7 project for compiling them to mex-dlls. source ------ This directory contains the set of C++ source modules that provide all the functionality for the mex-code in the "mexfiles" directory. correlate_variance ------------------ This directory has two sets of m-files for computing the covariance between two aligned scans. The basic idea is, given an estimate of the relative pose between two scans, we would like to compute a Gaussian covariance of this pose estimate. The first algorithm is deterministic, and tries to fit a Gaussian function to samples from the correlation function. It uses SVD to cope with an overconstrained system of equations. The second algorithm is Monte Carlo and estimates the variance of the correlation function using importance sampling. least-squares align ------------------- This directory has a set of m-files to perform least-squares alignment of relative pose estimates (as obtained from scan-matching). It implements a simple iterated non-linear least-squares algorithm. The demo program shows how this code works.

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