| lodo.h [code] | The lodo library provides laser-stabilizied odometric pose estimates: the inputs are raw odometry and laser scans, the output is a corrected pose estimate |
| omap.h [code] | The omap library creates occupancy grids from aligned laser data |
| pmap.h [code] | The pmap library performs simple particle-filter-based map building (SLAM) for a single robot. Generally speaking, the output maps are topologically correct, but a little rough around the edges (some minor scan mis-alignments). For very precise results, the output maps should be refined using the rmap library |
| rmap.h [code] | The rmap library performs relaxation over a set of roughly aligned laser scans to find the optimal map |
| slap.h [code] | Small Linear Algrebra Package (SLAP); this code is auto-generated |
