---
name: "grid-matching"
section: "1"
platform: "linux"
package: "mrpt-apps"
version: "1:2.14.7+ds-1+b3"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/grid-matching"
---

# grid-matching(1)

Executes occupancy grid matching techniques

## NAME

grid-matching - Executes occupancy grid matching techniques

## SYNOPSIS

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

## DESCRIPTION

**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.

## OPTIONS

**--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

## BUGS

Please report bugs at https://github.com/MRPT/mrpt/issues

## SEE ALSO

The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html

## AUTHORS

**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 \<joseluisblancoc@gmail.com\>.

## COPYRIGHT

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 \`/usr/share/common-licenses/BSD'.