scan_matching

代码说明：

  悉尼大学博士TimBaily编写的激光测距仪匹配的程序。其中包含C++的实现，内容包括：最小二乘优化，近邻匹配等基本算法的实现，是应用激光测距仪进行定位和地图构建不可多得的入门教程。 (scan-matching code written by matlab and c++, dealing with laser range data.)

文件列表：

scan_matching
.............\correlate_variance
.............\..................\version1_gauss_svd
.............\..................\..................\align_svd.m,1807,2004-11-20
.............\..................\..................\data.mat,6096,2004-11-20
.............\..................\..................\demo_gauss_svd.m,1130,2004-11-20
.............\..................\..................\gauss_variance_svd.m,857,2004-09-09
.............\..................\..................\make_gaussian_sum.m,730,2004-09-07
.............\..................\..................\sigma_ellipse.m,331,2004-10-20
.............\..................\..................\sog_correlate.dll,65536,2004-11-19
.............\..................\..................\sog_optimise.dll,73728,2004-11-19
.............\..................\..................\transform_to_global.m,479,2004-10-21
.............\..................\version2_importance_sampling
.............\..................\............................\data.mat,6096,2004-11-20
.............\..................\............................\demo_importance_gauss.m,1172,2004-11-20
.............\..................\............................\importance_gaussian.m,1097,2004-11-20
.............\..................\............................\make_gaussian_sum.m,730,2004-09-07
.............\..................\............................\multivariate_gauss.m,388,2004-10-22
.............\..................\............................\sample_mean.m,842,2002-02-11
.............\..................\............................\sigma_ellipse.m,331,2004-10-20
.............\..................\............................\sog_correlate.dll,65536,2004-11-19
.............\..................\............................\stratified_random.m,337,2003-12-05
.............\..................\............................\stratified_resample.m,790,2004-10-20
.............\..................\............................\transform_to_global.m,479,2004-10-21
.............\least_squares_align
.............\...................\align_least_squares.m,2457,2004-11-17
.............\...................\data.mat,1319672,2004-11-16
.............\...................\demo_least_squares.m,2234,2004-11-19
.............\...................\pi_to_pi.m,569,2004-07-19
.............\...................\transform_to_global.m,479,2004-10-21
.............\mexdemos
.............\........\demo_icp.m,1228,2004-11-19
.............\........\demo_icp_2.m,1654,2004-11-19
.............\........\demo_icp_3.m,1285,2004-11-19
.............\........\demo_k_neighbours.m,805,2004-11-18
.............\........\demo_nearest_neighbour.m,682,2004-11-18
.............\........\demo_sog_correlate.m,4641,2004-11-19
.............\........\demo_sog_optimise.m,1118,2004-11-19
.............\........\icp.dll,65536,2004-11-19
.............\........\k_neighbours.dll,61440,2004-11-18
.............\........\laserdata.mat,7558752,2002-01-21
.............\........\make_gaussian_sum.m,730,2004-09-07
.............\........\nearest_neighbour.dll,57344,2004-11-18
.............\........\pi_to_pi.m,569,2004-07-19
.............\........\sog_correlate.dll,65536,2004-11-19
.............\........\sog_correlate_m.m,1159,2004-11-19
.............\........\sog_correlate_variant.dll,65536,2004-11-19
.............\........\sog_optimise.dll,73728,2004-11-19
.............\........\transform_to_global.m,479,2004-10-21
.............\mexfiles
.............\........\icp
.............\........\...\icp.vcproj,4054,2004-11-18
.............\........\...\module.def,40,2004-11-18
.............\........\k_neighbours
.............\........\............\k_neighbours.vcproj,3971,2004-11-18
.............\........\............\module.def,49,2004-11-18
.............\........\mexfiles.ncb,142336,2004-11-19
.............\........\mexfiles.sln,2433,2004-11-19
.............\........\mex_icp.cpp,2295,2004-11-19
.............\........\mex_k_neighbours.cpp,2019,2004-11-19
.............\........\mex_nearest_neighbour.cpp,1176,2004-11-19
.............\........\mex_nearest_neighbour_old.cpp,1271,2004-11-18
.............\........\mex_sog_correlate.cpp,1934,2004-11-19
.............\........\mex_sog_correlate_variant.cpp,2439,2004-11-19
.............\........\mex_sog_optimise.cpp,2199,2004-11-19
.............\........\nearest_neighbour
.............\........\.................\module.def,54,2004-11-18
.............\........\.................\nearest_neighbour.vcproj,3996,2004-11-18
.............\........\sog_correlate
.............\........\.............\module.def,50,2004-11-18
.............\........\.............\sog_correlate.vcproj,4272,2004-11-19
.............\........\sog_optimise
.............\........\............\module.def,49,2004-11-18
.............\........\............\sog_optimise.vcproj,4327,2004-11-19
.............\Readme.txt,2151,2004-11-19
.............\source
.............\......\geometry2D.cpp,3724,2004-11-19
.............\......\geometry2D.hpp,2733,2004-11-19
.............\......\icp.cpp,1603,2004-11-19
.............\......\icp.hpp,2161,2004-11-19
.............\......\likelihood_function.hpp,3493,2004-11-19
.............\......\nn.cpp,3791,2004-11-19
.............\......\nn.hpp,1239,2004-11-19
.............\......\simplex.cpp,2649,2004-11-19
.............\......\simplex.hpp,1228,2004-11-18
.............\......\sog_match.cpp,3642,2004-11-19
.............\......\sog_match.hpp,1044,2004-11-19