polar_scan_matcher
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A Polar Scan Matcher [1] package for ROS. The package can be used to produce a pose estimate for a robot when no odometry is available. [1] A. Diosi and L. Kleeman, "Laser Scan Matching in Polar Coordinates with Application to SLAM " Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, Edmonton, Canada