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I´m not aware of a existing ROS implementation that is ready to use. This is likely also related to the fact that LIDAR/grid map based approaches work very well in most environments used with robots. I´d recommend taking a look at openslam.org. You´ll find quite a few approaches there and it sounds like a combination of FLIRTLib with some feature based estimation approach (like your own EKF, CEKFSLAM, this EKF or one of the pose graph implementations available there) would be an option for implementation.