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I don't know the exact details about localizing with RGBD-SLAM. But you could load the stored OctoMap file in octomap_server and then localize with humanoid_localization. I haven't really tried it for a free-floating Kinect, only an ASUS Xtion mounted on a humanoid. So you may have to perform some adjustments in the code (humanoid_localization requires some sort of odometry!).

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