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Commit 0efd3bbf authored by Andrea Censi's avatar Andrea Censi
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new website

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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC
"-//W3C//DTD XHTML 1.1 plus MathML 2.0 plus SVG 1.1//EN"
"http://www.w3.org/2002/04/xhtml-math-svg/xhtml-math-svg.dtd">
<html xmlns:svg='http://www.w3.org/2000/svg' xml:lang='en' xmlns='http://www.w3.org/1999/xhtml'>
<head><meta content='application/xhtml+xml;charset=utf-8' http-equiv='Content-type' /><title>The C(anonical) Scan Matcher</title></head>
<body>
<h1 id='the_canonical_scan_matcher'>The C(anonical) Scan Matcher</h1>
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8"/>
<p><img src='sm_plicp_zoom_crop.gif' alt='PL-ICP' style='float: right; margin:1em;' /></p>
<title>AndreaCensi/csm @ GitHub</title>
<style type="text/css">
body {
margin-top: 1.0em;
background-color: #d7f4c7;
font-family: "Helvetica,Arial,FreeSans";
color: #000000;
}
#container {
margin: 0 auto;
width: 700px;
}
h1 { font-size: 3.8em; color: #280b38; margin-bottom: 3px; }
h1 .small { font-size: 0.4em; }
h1 a { text-decoration: none }
h2 { font-size: 1.5em; color: #280b38; }
h3 { text-align: center; color: #280b38; }
a { color: #280b38; }
.description { font-size: 1.2em; margin-bottom: 30px; margin-top: 30px; font-style: italic;}
.download { float: right; }
pre { background: #000; color: #fff; padding: 15px;}
hr { border: 0; width: 80%; border-bottom: 1px solid #aaa}
.footer { text-align:center; padding-top:30px; font-style: italic; }
</style>
</head>
<h3 id='news'>News</h3>
<body>
<a href="http://github.com/AndreaCensi/csm"><img style="position: absolute; top: 0; right: 0; border: 0;" src="http://s3.amazonaws.com/github/ribbons/forkme_right_darkblue_121621.png" alt="Fork me on GitHub" /></a>
<ul>
<li>Fall 2010: <a href='http://www.ros.org/wiki/canonical_scan_matcher'>CSM has been integrated and packaged</a> for <a href='http://www.ros.org/'>ROS</a> by <a href='http://robotics.ccny.cuny.edu/blog/People/Dryanovski'>Ivan Dryanovski</a>.</li>
</ul>
<h3 id='download'>Download</h3>
<div id="container">
<ul>
<li>
<p>CSM can be download from GitHub (.zip package available) at the url:</p>
<div class="download">
<a href="http://github.com/AndreaCensi/csm/zipball/master">
<img border="0" width="90" src="http://github.com/images/modules/download/zip.png"></a>
<a href="http://github.com/AndreaCensi/csm/tarball/master">
<img border="0" width="90" src="http://github.com/images/modules/download/tar.png"></a>
</div>
<p><a href='http://github.com/AndreaCensi/csm'>http://github.com/AndreaCensi/csm</a></p>
</li>
</ul>
<h1><a href="http://github.com/AndreaCensi/csm">csm</a>
<span class="small">by <a href="http://github.com/AndreaCensi">AndreaCensi</a></span></h1>
<h3 id='documentation__getting_started'>Documentation / getting started</h3>
<div class="description">
The C(canonical) Scan Matcher
</div>
<p>Please see the manual contained in &#8220;csm_manual.pdf&#8221;. See below for a quick description.</p>
<h2>License</h2>
<p>LGPL</p>
<h2>Authors</h2>
<p>Andrea Censi (andrea@cds.caltech.edu)<br/></p>
<h2>Contact</h2>
<p>Andrea Censi (andrea@cds.caltech.edu)<br/> </p>
<p><strong>What is this.</strong> I created this package:</p>
<ul>
<li>
<p>To have a well-documented reference implementation of <a href='http://purl.org/censi/2007/plicp'>PL-ICP</a>. If you are only interested in the core algorithm of PL-ICP, a <a href='http://purl.org/censi/2007/gpc'>separate concise implementation in C/Matlab/Ruby</a> is available.</p>
</li>
<h2>Download</h2>
<p>
You can download this project in either
<a href="http://github.com/AndreaCensi/csm/zipball/master">zip</a> or
<a href="http://github.com/AndreaCensi/csm/tarball/master">tar</a> formats.
</p>
<p>You can also clone the project with <a href="http://git-scm.com">Git</a>
by running:
<pre>$ git clone git://github.com/AndreaCensi/csm</pre>
</p>
<li>
<p>To have a <strong>trustworthy</strong> scan matcher to be used in the experiments for some papers on <a href='http://purl.org/censi/2006/icpcov'>ICP covariance</a>, <a href='http://purl.org/censi/2006/accuracy'>the Cramer-Rao bound for range finders</a>, and <a href='http://purl.org/censi/2007/calib'>robot calibration</a>. For batch experiments, it&#8217;s also useful that it&#8217;s pretty fast.</p>
</li>
<div class="footer">
get the source code on GitHub : <a href="http://github.com/AndreaCensi/csm">AndreaCensi/csm</a>
</div>
<li>
<p>To have a collection of utilies for command line (UNIX-style) manipulation of laser data, and creating <a href='../plicp/laserazosSM3.log.pdf'>beautiful maps</a> and animations.</p>
</li>
</ul>
</div>
<p>The package contains also a Ruby wrapper for the C library, and additional Ruby and a Matlab implementations of the same algorithm. These are not as usable or documented as the C version.</p>
</body>
</html>
<p><strong>What it is NOT</strong>: Note that this is not a full-featured SLAM solution: this only does pairwise scan-matching between scans (but it&#8217;s really good at it!). If you are looking for a more complete SLAM solution, please see the projects listed in the <a href='http://www.openslam.org'>OpenSLAM</a> page; in particular you can have a look at <a href='http://www.openslam.org/gmapping.html'>GMapping</a>. Many pointers to other SLAM software can be found on the pages of the Euron SLAM summer schools: <a href='http://www.cas.kth.se/SLAM/'>2002 (Stockholm)</a>, <a href='http://www.laas.fr/SLAM/'>2004 (Toulouse)</a>, <a href='http://www.robots.ox.ac.uk/~SSS06/Website/index.html'>2006 (Oxford)</a>. Other related projects are <a href='http://carmen.sourceforge.net/'>Carmen</a> and <a href='http://playerstage.sourceforge.net/'>Stage</a>.</p>
<hr />
<p>Please link to this page using the url <a href='http://purl.org/censi/2007/csm'>http://purl.org/censi/2007/csm</a>.</p>
</body></html>
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The C(anonical) Scan Matcher
============================
![PL-ICP](sm_plicp_zoom_crop.gif){:style="float: right; margin:1em;"}
### News ###
* Fall 2010: [CSM has been integrated and packaged][stack] for [ROS] by [Ivan Dryanovski][ivan].
### Download ###
* CSM can be download from GitHub (.zip package available) at the url:
[http://github.com/AndreaCensi/csm](http://github.com/AndreaCensi/csm)
[stack]: http://www.ros.org/wiki/canonical_scan_matcher
[ivan]: http://robotics.ccny.cuny.edu/blog/People/Dryanovski
[ROS]: http://www.ros.org/
### Documentation / getting started ###
Please see the manual contained in "csm_manual.pdf". See below for a quick description.
**What is this.** I created this package:
- To have a well-documented reference implementation of [PL-ICP](http://purl.org/censi/2007/plicp). If you are only interested in the core algorithm of PL-ICP, a [separate concise implementation in C/Matlab/Ruby](http://purl.org/censi/2007/gpc) is available.
- To have a **trustworthy** scan matcher to be used in the experiments for some papers on [ICP covariance](http://purl.org/censi/2006/icpcov), [the Cramer-Rao bound for range finders](http://purl.org/censi/2006/accuracy), and [robot calibration](http://purl.org/censi/2007/calib). For batch experiments, it's also useful that it's pretty fast.
- To have a collection of utilies for command line (UNIX-style) manipulation of laser data,
and creating [beautiful maps][map-example] and animations.
The package contains also a Ruby wrapper for the C library, and additional Ruby and a Matlab implementations of the same algorithm. These are not as usable or documented as the C version.
**What it is NOT**: Note that this is not a full-featured SLAM solution: this only does pairwise scan-matching between scans (but it's really good at it!).
If you are looking for a more complete SLAM solution, please see the projects listed in the [OpenSLAM](http://www.openslam.org) page; in particular you can have a look at [GMapping].
Many pointers to other SLAM software can be found on the pages of the Euron SLAM summer schools:
[2002 (Stockholm)](http://www.cas.kth.se/SLAM/),
[2004 (Toulouse)](http://www.laas.fr/SLAM/),
[2006 (Oxford)](http://www.robots.ox.ac.uk/~SSS06/Website/index.html).
Other related projects are [Carmen] and [Stage].
[map-example]: ../plicp/laserazosSM3.log.pdf
[gmapping]: http://www.openslam.org/gmapping.html
[carmen]: http://carmen.sourceforge.net/
[stage]: http://playerstage.sourceforge.net/
-----------
Please link to this page using the url <http://purl.org/censi/2007/csm>.
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