Ellipsoid-SLAM using Pole-like objects as landmarks from a laserscanner data.
To test the code, please run the file simEllipsoidSLAM.
The details about dataset and all information about this technique is here Ellipsoid SLAM: a novel set membership method for simultaneous localization and mapping http://link.springer.com/article/10.1007/s10514-015-9447-y