Here you find the code implementing the various map merging algorithms we developed since 2008.
Merging 2D occupancy grid maps
Hough Scan Matcher 3D (HSM3D)
Update (March 2009): A new version of the software has been further developed to deal with data coming from stereocameras. Click here to download version 0.2. Keep in mind 0.2 is a scarcely documented development version, while 0.1 is more stable and fully commented.
Merging appearance-based maps
Code implementing the algorithm described in the paper "Anytime merging of appearance based maps" appeared in ICRA 2012 (available for download in our publications page).
Supporting data sets:
Heterogeneous Map Merging
Code implementing the algorithm described in the paper "Heterogeneous Map Merging Using WiFi Signals" at IROS 2013 (available for download in our publications page).
Code and Datasets Used in the Paper (MatLab Implementation)
README [txt] (2.3KB) - Highly recommended download, which describes the files included in the downloads below.
Maps [zip] (94.5MB)
Code [zip] (224KB)
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