This organisation features resources around FSM, the Fourier Scan Matching method. FSM may match two range scans from a 2D LIDAR sensor whose field of view is 360 degrees in real time. FSM is robust to sensor noise, void correspondences, high-frequency components and distance between measurements. These are due to the dispensing with correspondences, which the use of the Discrete Fourier Transform affords FSM.

• fsm contains the core C++ source code
• IROS-2022-paper contains the source tex code of the paper titled "FSM: Correspondenceless scan-matching of panoramic 2D range scans", presented at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, held at Kyoto, Japan
• IROS-2022-presentations-resources contains material related to the presentation of FSM, namely the presentation required by IROS 2022
• fsm-lo contains the roscpp source code of a ROS package which uses FSM to produce LIDAR odometry, and docker-related files for building and deploying it
• scan-matching-tests contains the C++ source code that was used to produce the results supporting the contributions of the paper featured at sm-experiments-logs
• sm-experiments-logs contains raw output data used to illustrate and support FSM's contributions in sections V "Results" and VI "Characterisation" of the paper