diff --git a/examples/benchmark.py b/examples/benchmark.py
deleted file mode 100644
index a045d45..0000000
--- a/examples/benchmark.py
+++ /dev/null
@@ -1,104 +0,0 @@
-#!/usr/bin/env python
-
-'''
-benchmark.py : Benchmark breezyslam.algorithms.distanceScanToMap()  
-               with lots of random points
-                
-Copyright (C) 2014 Simon D. Levy
-
-This code is free software: you can redistribute it and/or modify
-it under the terms of the GNU Lesser General Public License as 
-published by the Free Software Foundation, either version 3 of the 
-License, or (at your option) any later version.
-
-This code is distributed in the hope that it will be useful,     
-but WITHOUT ANY WARRANTY without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public License 
-along with this code.  If not, see <http://www.gnu.org/licenses/>.
-'''
-
-# Size of square mapping area
-MAP_SIZE_METERS = 40
-
-# Width of holes (obstacles, walls) in saved map
-HOLE_WIDTH_MM   = 600
-        
-from breezyslam.components import Laser, Map, Scan, Position
-from breezyslam.algorithms import distanceScanToMap
-
-from progressbar import ProgressBar
-
-from mines import URG04, load_data
-from pgm_utils import pgm_load
-
-from sys import argv, exit, stdout
-from time import time
-from random import Random
-
-def main():
-	    
-    # Bozo filter for input args
-    if len(argv) < 3:
-        print('Usage:   %s <dataset> <npoints>' % argv[0])
-        print('Example: %s <exp2> 100000' % argv[0])
-        exit(1)
-    
-    # Grab input args
-    dataset = argv[1]
-    npoints = int(argv[2])
-    
-	# Load the Lidar scan data from the log file    
-    lidarscans, _ = load_data('.', dataset)
-    
-    # Load the map from the PGM file
-    mapbytes, mapsize_pixels = pgm_load('%s.pgm' % dataset)
-    
-    # Map is square
-    mapsize_pixels = mapsize_pixels[0]
-    
-    # Create a Map object from the bytes; call it mymap to avoid name collision with Python's built-in map function
-    mymap = Map(mapsize_pixels, MAP_SIZE_METERS, mapbytes)
-    
-    # Create an empty Scan object with URG04_360 laser parameters
-    scan = Scan(URG04())
-                    
-    # Create a progresss bar to report what we're doing
-    nscans = len(lidarscans)
-    print('Processing %d points for %d scans...' %  (npoints, nscans))
-    progbar = ProgressBar(0, nscans, 80)
-    
-    # Start timing
-    start_sec = time()
- 
-    # Precompute map size in mm
-    mapsize_mm = mapsize_pixels * MAP_SIZE_METERS
-    
-    # Create a random-number generator for points
-    rand = Random()
-    
-    # Loop over scans    
-    for scanno in range(nscans):
-         
-        # Update the Scan object with the Lidar scan values
-        scan.update(lidarscans[scanno], HOLE_WIDTH_MM)
-        
-        # Test a lot of points on this new scan and the pre-loaded map
-        for pointno in range(npoints):
-            point = Position(rand.uniform(0,mapsize_mm), rand.uniform(0,mapsize_mm), rand.uniform(-180,180))
-            distanceScanToMap(mymap, scan, point)
-                
-        # Tame impatience
-        progbar.updateAmount(scanno)
-        stdout.write('\r%s' % str(progbar))
-        stdout.flush()
-        
-    # Report results
-    elapsed_sec = time() - start_sec
-    totalpoints = nscans * npoints
-    print('\nProcessed %d points in %f seconds = %d points / sec' % \
-           (totalpoints, elapsed_sec, int(totalpoints / elapsed_sec)))
-                     
-main()