Odometry free LIDAR SLAM with a Embedded Handheld Mapping System HD

Odometry free SLAM using a Hokuyo UTM-30LX LIDAR system, a low cost IMU and a Intel Atom Z530 CPU. This dataset (with scan and tf data) is available as a ROS bagfile here: http://www.gkmm.tu-darmstadt.de/rescue/?q=node/141 The software is available as open source packages for ROS: http://www.ros.org/wiki/hector_slam