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I've been testing it for some days, and in the moment it sounds to me to be a faster algorithm. The presition sound similar to me by the moment.

I think that there are not much people using karto because the current package is broken. Here I provided a solution about how to build it: http://answers.ros.org/question/12370/why-doesnt-the-karto-package-build/?answer=54369#post-id-54369

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