feature based slam mapping

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Thanks stefan. I appreciate your reply. I know about openslam. Those EKF slam are implemented in matlab. FLIRTLib uses image. but i have to use for LASER and I was looking for ROS node or C++ code.

Hi Stefan, Did you use EKF-SLAM (provided by Tim Bailey)? I can use his matlab simulator. I works where features are points. Do you know whether it works with line features instead of the point features?

Thanks sai, I'm using gmapping for a while. Now I need to use line feature based SLAM to compare with my result. I'm going through OMNIMAPPER to see whether it does.

You can look at these publications

A. J. B. Trevor, J. G. Rogers III, H. I. Christensen, “OmniMapper: A modular multimodal mapping framework”, ICRA, 2014 [pdf].

A. J. B. Trevor, J. G. Rogers III, H. I. Christensen, “Planar Surface SLAM with 3D and 2D Sensors”, ICRA, 2012. [pdf]

Thanks sai for those papers. Looking like that's what i'm looking for. Did you use the OmniMapper??

No, I didn't use it. Once you have successfully used it, you can share your experiences.

Ok. If i manage to use it then i will share my experience.

It seems that Omnimapper cannot compile... Has anyone successfully compiled it?