diff --git a/scripts/build_test_asan.sh b/scripts/build_test_asan.sh
new file mode 100755
index 0000000..7bf6592
--- /dev/null
+++ b/scripts/build_test_asan.sh
@@ -0,0 +1,38 @@
+#!/bin/sh
+
+# Copyright 2017 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -o errexit
+set -o verbose
+
+# Installing the following packages may be required:
+# sudo apt-get install clang-3.8 llvm-3.8
+
+cd cartographer
+mkdir -p build-asan
+cd build-asan
+cmake .. -G Ninja \
+  -DCMAKE_BUILD_TYPE=Debug \
+  -DFORCE_DEBUG_BUILD=True \
+  -DCMAKE_CXXFLAGS="-fno-omit-frame-pointer -fsanitize=address \
+    -fsanitize-address-use-after-scope -O1" \
+  -DCMAKE_EXE_LINKER_FLAGS="-fsanitize=address" \
+  -DCMAKE_C_COMPILER=clang-3.8 \
+  -DCMAKE_CXX_COMPILER=clang++-3.8
+ninja
+PATH="/usr/lib/llvm-3.8/bin/:$PATH" \
+  ASAN_OPTIONS="detect_leaks=1 detect_stack_use_after_return=true" \
+  ctest --output-on-failure -j20 --timeout 60 \
+    --test-arguments="--gtest_color=yes"