This library implements segment-based EKF localization: "Mobile Robot Localization and Map Building: A Multisensor Fusion Approach" J.A. Castellanos and J.D. Tardós Kluwer Academic Publishers, Boston, 1999 ISBN 0-7923-7789-3 Code follows (mostly) Google source code conventions. Usage interface is via robot_location.hh Tuning parameters are in params.hh