This is a simple demo implementing feature-based bearing-only EKF-SLAM i 2D,
with known data associations.

The estimated path and map is shown in blue, and the raw odometry path in 
green.

Running
=======

Build with "make" (install peekabot first) and then run "./bo-slam".
No external libraries aside from Boost (which is a peekabot dependency anyway)
are required.

License
=======

The code is licensed under the GNU General Public License version 2, or at 
your option, any later version. See the included license for more information.

The pioneer_3dx.pbmf file is copyrighted by Staffan Gimåker (2007, 2009) and
licensed under the Creative Commons Atrribution-Share Alike 3.0 license,
http://creativecommons.org/licenses/by-sa/3.0/.
