6D localization for humanoid robots based on depth data (laser, point clouds).
Two observation models are currently available based on OctoMap as 3D map:
Ray casting and an end point model (lookup in the distance map).
Details can be found in the publication
"Humanoid Navigation with Dynamic Footstep Plans"
by A. Hornung, K.M. Wurm, and M. Bennewitz; published in
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
nao_localization is ...