very very cool. My thoughts, after briefly browsing the paper and code: - The killer feature is to avoid a particle filter to improve performance on larger map

very very cool. My thoughts, after briefly browsing the paper and code: - The killer feature is to avoid a particle filter to improve performance on larger maps. May not have much improvement over gmapping if you're not bounded by CPU/map size - the launch file only uses lidar and raw imu data, but not wheel odometry. Makes sense for a backpack I guess, I wonder if it would be trivial to make it take a odom sensor msg. - the paper mentions the neato lidar, and they're using it at 15m range (?). Must be very tolerant of sensor noise. will have to try it on my robot when I get home.