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The slam present in the hector package use multiple maps for position estimation. Theses maps each have different resolution (divided by 2 I think). So, if you have a resolution of 0.01, and map_multi_res_levels = 3, you will have :

  • a map with resolution of 0.01
  • a map with resolution of 0.02
  • a map with resolution of 0.04

The algorithme will use these 3 maps to compute the best position estimation.