Module correlative_scan_matching 

Brute-force correlative scan matching.

The matcher scores candidate poses by transforming a query scan into the reference frame and counting occupancy hits in a discretized grid.

Reference:

• Edwin Olson, “Real-Time Correlative Scan Matching”: https://april.eecs.umich.edu/pdfs/olson2009icra.pdf

The lookup table follows the rasterization idea in Olson’s paper: each reference point contributes a radially symmetric score field and the grid stores the maximum value contributed at each cell.

Structs

CorrelativeScanMatcherConfig

Configuration for correlative scan matching.

ScanMatchResult

Best scan matching result found in the search window.

Functions

correlative_scan_match

Performs brute-force correlative scan matching.