This is 2D LaserSLAM program based on C# language. There's still room for improvement.

YDLidarG2 is used.

1. Program.cs (main)
2. SLAM_utils.cs (SLAM utility function class)

• create_BWmap : Convert local map to hamming distance map
• distanceBW : hamming distance
• extract_sgrid : extract small grid from local map
• cal_idx : calculate index from small grid
• ExtractLocalMap : extract local map from map
• transform
• pol2cart : convert polar coordinates to cartesian coordinates
• Dgetr
• deg2rad : convert degree to radian
• rad2deg(not used)
• diffpos : difference between current position and previous position
• min_max_func : get min(x, y), max(x, y) from map

Reference :

1. YDLidarSharp github : https://github.com/Denny9700/YDLidarSharp.git

2. LaserSLAM github : https://github.com/meyiao/LaserSLAM.git (W.Hess, D.Kohler, H.Rapp and D.Andor. Real-Time Loop Closure in 2D LIDAR SLAM. ICRA, 2016)