This is a Matlab implementation of the HSM3D algorithm described in the paper available at:

	http://purl.org/censi/2008/hsm3d
	
This is a pre-pre-release, released with the submission of the paper. 
Documentation is minimal and will be added in the future.
If you bug me about it, you'll probably get it faster.


To start, you might look at:

	h3d_test13_exp.m   This is the equivalent of the first experiment described in the paper.
	                   This uses the data contained in dat_avz_matlab, which is a Matlab translation 
	                    of the 3D scan data provided by Andreas Nuechter.
	
	h3d_test12_exp.m   This is the same, but uses synthetic data which has ground truth for the estimate.
	                   Data was generated with USARSim.