Trilogy of methods for correspondenceless matching of scans from 2D panoramic LIDAR sensors
You may run FSM's code for each dataset with
./s2msm_node 5 100 0 7373 0.05 0.035 0 0 0 0 360 360 FMT aces
./s2msm_node 5 100 0 4933 0.05 0.035 0 0 0 0 360 360 FMT fr079
./s2msm_node 5 100 0 13630 0.05 0.035 0 0 0 0 360 360 FMT intel
./s2msm_node 5 100 0 1987 0.05 0.035 0 0 0 0 360 360 FMT mit_csail
./s2msm_node 5 100 0 17479 0.05 0.035 0 0 0 0 360 360 FMT mit_killian