A Modular Optimization framework for Localization and mApping (MOLA).
This repository holds the MOLA git superproject. Refer to the official documentation for build instructions, demos, API reference, etc.
| Demo | Preview |
|---|---|
| 3D LiDAR SLAM from KITTI dataset | |
| Graph SLAM from G2O dataset |
Clone with:
git clone --recurse-submodules https://github.com/MOLAorg/mola.git
Follow these instructions (in RST format here).
Directories layout is as follows:
demos: Example YAML files formola-launcherdocs: Documentation and placeholder for Doxygen docs.externals: All external depedenciesmodules: All MOLA module projects.
MOLA was presented in (PDF):
@INPROCEEDINGS{Blanco-Claraco-RSS-19,
AUTHOR = {Jose Luis Blanco-Claraco},
TITLE = {A Modular Optimization Framework for Localization and Mapping},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2019},
ADDRESS = {FreiburgimBreisgau, Germany},
MONTH = {June},
DOI = {10.15607/RSS.2019.XV.043}
} MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.