Correlative Scan Matcher

Simple implemenation of scan matcher based on the paper "Real-Time Correlative Scan Matching" by Olson 2009.

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Installation

Create a virtual environment and install the package:

pip3 install -e .

Usage

Basic Usage

from correlative_scan_matcher.scan_matcher import ScanMatcher
from correlative_scan_matcher.utils import transform_scan

# Initialize the scan matcher
matcher = ScanMatcher(
    resolution_low=0.1,
    resolution_high=0.05
)

# Match a scan to the map
best_pose, best_score, mean_pose, cov = matcher.match(map_point_cloud, scan, initial_pose, search_window)

Example

Example usage is provided in the example directory.

To run the example, first install the requirements in a virtual environment:

pip3 install -r example/requirements.txt

Then, use the following command to run the example in the virtual environment:

python3 example/example.py

Tested on Ubuntu 24.04 LTS and python version 3.10.

References

• "Real-Time Correlative Scan Matching" by Olson 2009.
• University of Freiburg's Lidar dataset.

TODO

• Sphinx documentation