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

      

    • 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