Application: grid-matching

See also: Publications and C++ classes on Occupancy Grid Matching



grid-matching – Executes occupancy grid matching techniques


grid-matching –match –map1=grid1.simplemap –map2=grid1.simplemap [options] grid-matching –detect-test –map1=grid1.simplemap [options]


grid-matching is a command-line application which takes two maps as input and computes
a Sum-Of-Gaussians (SOG) density distribution for the 2D transformation between them, if
they are found to match.


–match Operation: match two maps
–detect-test Operation: Quality of match with one map
–map1 arg Map #1 to align (*.simplemap)
–map2 arg Map #2 to align (*.simplemap)
–out arg (=gridmatching_out.txt) Output file for the results
–config arg Optional config. file with more params
–save-sog-3d Save a 3D view of all the SOG modes
–save-sog-all Save all the map overlaps
–noise-xy arg (=0) In detect-test mode,std. noise in XY
–noise-phi arg (=0) In detect-test mode,std. noise in PHI (deg)
–Ax arg (=4) In detect-test mode, displacement in X
–Ay arg (=2) In detect-test mode, displacement in Y
–Aphi arg (=30) In detect-test mode, displ. in PHI (deg)
–verbose verbose output
–nologo skip the logo at startup
–help produce help message