Provided by: mrpt-apps_1.5.6-1build1_amd64 bug


       grid-matching - Executes occupancy grid matching techniques


       grid-matching --match --map1=grid1.simplemap --map2=grid1.simplemap  [options] grid-
       matching --detect-test --map1=grid1.simplemap [options]


       grid-matching is a command-line application which takes two maps as input and computes a
       Sum-Of-Gaussians (SOG) density distribution for the 2D transformation between them, if
       they are found to match.


       --match                           Operation: match two maps --detect-test
       Operation: Quality of match with one map --map1 arg                        Map #1 to align
       (*.simplemap) --map2 arg                        Map #2 to align (*.simplemap) --out arg
       (=gridmatching_out.txt) Output file for the results --config arg
       Optional config. file with more params --save-sog-3d                     Save a 3D view of
       all the SOG modes --save-sog-all                    Save all the map overlaps --noise-xy
       arg (=0)               In detect-test mode,std. noise in XY --noise-phi arg (=0)
       In detect-test mode,std. noise in PHI (deg) --Ax arg (=4)                     In detect-
       test mode, displacement in X --Ay arg (=2)                     In detect-test mode,
       displacement in Y --Aphi arg (=30)                  In detect-test mode, displ. in PHI
       (deg) --verbose                         verbose output --nologo
       skip the logo at startup --help                            produce help message


       Please report bugs at


       The application wiki page at


       grid-matching is part of the Mobile Robot Programming Toolkit (MRPT), and was originally
       written by the MAPIR laboratory (University of Malaga).

       This manual page was written by Jose Luis Blanco <>.


       This program is free software; you can redistribute it and/or modify it under the terms of
       the BSD License.

       On Debian GNU/Linux systems, the complete text of the BSD License can be found in