source from : http://www.joansola.eu/JoanSola/eng/toolbox.html
By observing different features such as points or lines, update the current pose of a vehicle and up-to-scaled structures in 3D space.
This toolbox performs 6DOF SLAM using the classical EKF implementation. It is conceived as an “active-search” SLAM. It is provided for free under the GPL license (please read the file COPYING and make sure you agree in the terms and conditions before using it).
Users employing the toolbox for scientific research should cite in their scientific communications one of the papers of the authors (especiallySOLA-ETAL-IJCV-11, SOLA-ETAL-TRO-08) appearing in the References section of the documentation, and also acknowledging the use of this toolbox.