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EKF-based localization library for Gearbox and Player

branch: master
This library implements segment-based EKF localization:

"Mobile Robot Localization and Map Building: A Multisensor Fusion Approach"
J.A. Castellanos and J.D. Tardós
Kluwer Academic Publishers, Boston, 1999
ISBN 0-7923-7789-3

Code follows (mostly) Google source code conventions.

Usage interface is via robot_location.hh

Tuning parameters are in params.hh
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