Willow Garage's ROS continues to impress: this time with a driver for the Neato Robotics vacuum cleaner that has a cool little Lidar unit. Here's a cool video showing how it can pretty easily do Simultaneous Location and Mapping (SLAM), which is essential for indoors navigation. Sadly Neato doesn't sell the Lidar units on their own, so you can just buy one for your MAV, but maybe someday....
BTW, some of the DIY Drones team will be visiting Willow Garage on Monday, so if you've got UAV questions you'd like us to ask, post them here.
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How SLAM works in their implementation?