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README.md

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## Citations
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The latest publications on MOLA are ([PDF](https://arxiv.org/abs/2407.20465)).
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The latest publications on MOLA are ([ArXiV](https://arxiv.org/abs/2407.20465)).
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```bibtex
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@misc{blanco2024mola,
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title={A flexible framework for accurate LiDAR odometry, map manipulation, and localization},
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author={José Luis Blanco-Claraco},
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year={2024},
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eprint={2407.20465},
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archivePrefix={arXiv},
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primaryClass={cs.RO},
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url={https://arxiv.org/abs/2407.20465},
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@article{blanco2025mola_lo,
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author = {Jose Luis Blanco-Claraco},
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title ={A flexible framework for accurate LiDAR odometry, map manipulation, and localization},
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journal = {The International Journal of Robotics Research},
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volume = {0},
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number = {0},
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pages = {02783649251316881},
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year = {2025},
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doi = {10.1177/02783649251316881},
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URL = { https://doi.org/10.1177/02783649251316881},
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eprint = {https://doi.org/10.1177/02783649251316881},
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}
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```
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docs/source/building-maps.rst

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.. figure:: imgs/odometry_inputs_outputs.png
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:width: 400
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Role of an "odometry" module (Figure adapted from :cite:`blanco2024mola_lo`).
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Role of an "odometry" module (Figure adapted from :cite:`blanco2025mola_lo`).
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To process an **offline dataset**, use any of the available options in :ref:`MOLA-LO applications <_launching_mola_lo>`:

docs/source/geo-referencing.rst

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======================
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Georeferencing trajectories and metric maps is implemented in the :ref:`mola_sm_loop_closure <mola_licenses>` package.
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The concept of using simple-maps as intermediary map format together with the layered metric map format (see :cite:`blanco2024mola_lo`)
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The concept of using simple-maps as intermediary map format together with the layered metric map format (see :cite:`blanco2025mola_lo`)
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enables embedding georeferenced coordinates to any kind of map typically used in robotics: grid maps, voxel maps, point clouds, etc.
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Make sure of having a GPS (GNSS) sensor source emitting observations, and that they were captured
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by MOLA-LO (see :ref:`the corresponding variable <mola_lo_pipeline_sensor_inputs>` in the LO pipeline).
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Then, build the corresponding metric map by applying a metric map generation pipeline (see :cite:`blanco2024mola_lo`
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Then, build the corresponding metric map by applying a metric map generation pipeline (see :cite:`blanco2025mola_lo`
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or :ref:`this step <building-maps_step_mm>` in the tutorial:
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.. code-block:: bash

docs/source/index.rst

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How to cite MOLA
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==================
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The ``mola_lidar_odometry`` system was presented in :cite:`blanco2024mola_lo`:
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The ``mola_lidar_odometry`` system was presented in :cite:`blanco2025mola_lo` ([ArXiV](https://arxiv.org/abs/2407.20465)):
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J.L. Blanco,
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`A flexible framework for accurate LiDAR odometry, map manipulation, and localization`_, in
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ArXiV, 2024.
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Blanco-Claraco JL. A flexible framework for accurate LiDAR odometry, map manipulation, and localization.
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The International Journal of Robotics Research. 2025;0(0).
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doi:10.1177/02783649251316881
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.. _A flexible framework for accurate LiDAR odometry, map manipulation, and localization: https://arxiv.org/abs/2407.20465
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docs/source/localization.rst

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Localization
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======================
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Localization differs from SLAM in that the map or world model is **not updated** while
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it is being used to keep a robot or vehicle accurately localized within a pre-mapped environment :cite:`blanco2024mola_lo`.
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it is being used to keep a robot or vehicle accurately localized within a pre-mapped environment :cite:`blanco2025mola_lo`.
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Once :ref:`a map is built <building-maps>`, the result is a simple-map and/or a metric map (``*.mm``), optionally :ref:`georeferenced <geo-referencing>`.
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This map can then be used to enable autonomous navigation ("Go from A to B"), for which localization is a fundamental

docs/source/refs.bib

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location = {Germany}
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}
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@article{blanco2024mola_lo,
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author = {Blanco Claraco, Jos{\'e} Luis},
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title = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
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journal = {ArXiV},
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year = {2024},
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url = {https://arxiv.org/abs/2407.20465}
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@article{blanco2025mola_lo,
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author = {Jose Luis Blanco-Claraco},
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title ={A flexible framework for accurate LiDAR odometry, map manipulation, and localization},
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journal = {The International Journal of Robotics Research},
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volume = {0},
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number = {0},
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pages = {02783649251316881},
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year = {2025},
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doi = {10.1177/02783649251316881},
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URL = { https://doi.org/10.1177/02783649251316881},
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eprint = {https://doi.org/10.1177/02783649251316881},
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}
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@article{blanco2018olae,

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