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The dynamic_robot_localization is a ROS package that offers 3 DoF and 6 DoF localization using PCL and allows dynamic map update using OctoMap. It's a modular localization pipeline, that can be configured using yaml files (detailed configuration layout available in drl_configs.yaml and examples of configurations available in guardian_config and dynamic_robot_localization_tests). Even though this package was developed for robot self-localization and mapping, it was implemented as a generic, configurable and extensible point cloud matching library, allowing its usage in related problems such as estimation of the 6 DoF pose of an object and 3D object scanning.

...The spec/ directory contains the formal EBNF grammar, autogenerated from the reference implementation. Software localization has been dominated by an outdated paradigm: translations that map one-to-one to the English copy. The grammar of the source language imposes limits on the expressiveness of the translation. We created Fluent to change this paradigm. Translators should be able to use the entire expressive power of their language without asking developers for permission. In Fluent, translations are asymmetric.