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The core part of the HectorSLAM is in the file hector_slam/hector_mapping/include/hector_slam_lib/matcher/ScanMatcher.h and hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapUtil.h. The implementation of the scan matching in HectorSLAM uses the maximum likelihood estimator (MLE), which is implemented in the function estimateTransformationLogLh....


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