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Problem resolved, VMWare was unfortunately the culprit.

I rebuilt the whole system, yet again, from scratch on a bootable Ubuntu 11.10 64bit partition and it worked imediately (tho I did have to install GSL independently again Felix).

Now I think I have a more fundamental issue, perhaps with an easy, but expensive solution. I think my Intel I3 M330 dual 2.13GHz laptop, with 4GB ram, is simply not up to the task.

The CPU is maxed out whilst Im capturing data and the resultant frame rate is very slow, which in turn is leading (I suspect) to greater deltas between analysed frames, less matching and ultimately, my generated maps are often VERY poor.

(I have tried moving the camera very slowly but this only helped a little bit)

Also, the 4GB fills up extremely quickly so I'm prettly much limited to small room maps.

Do you guys have any advice on the effectiveness of high spec cpu's with RGBDSLAM - as Ive been looking for an excuse to get a new speedy machine:-)

Thanks you all for your patience and superb advice.