/mola

A Modular Optimization framework for Localization and mApping (MOLA)

Primary LanguageCMakeGNU General Public License v3.0GPL-3.0

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mola

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

Building

Clone with:

git clone --recurse-submodules https://github.com/MOLAorg/mola.git

Follow these instructions (in RST format here).

About the directory structure

Directories layout is as follows:

  • demos: Example YAML files for mola-launcher
  • docs: Documentation and placeholder for Doxygen docs.
  • externals: All external depedencies
  • modules: All MOLA module projects.

Citation

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} 
}

License

MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.