LICENSE

The MIT License (MIT)

Copyright (c) 2014 Tomas Krajnik

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

In the case that you publish work that uses the FreMEn software, please cite 
one of the following papers:

#general idea of the FreMEn approach
@inproceedings{krajnik,
Author={Tom{\'a}{\v s} Krajn{\'i}k and Jaime Pulido Fentanes and Grzegorz Cielniak and Christian Dondrup and Tom Duckett}
Booktitle = {IEEE International Conference on Robotics and Automation 2014},
Title = {Spectral Analysis for Long-Term Robotic Mapping},
Year = {2014}
}

#localization improvement when using FreMEn
@inproceedings{iros_2014_topol,
Author = {Tom{\'a}{\v s} Krajn{\'\i}k and Jaime Pulido Fentanes and Oscar M. Mozos and Tom Duckett and Johan Ekekrantz and Marc Hanheide},
Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems '14},
Title = {Long-Term Topological Localization for Service Robots in Dynamic Environments using Spectral Maps},
Year = {2014}}

#combination of OctoMap and FREMen
@article{krajnikfroctomap,
  title={FROctomap: An Efficient Spatio-Temporal Environment Representation},
  author={Krajn{\i}k, Tom{\'a}{\v{s}} and Santos, Joao and Seemann, Bianca and Duckett, Tom},
  journal={Advances in Autonomous Robotics Systems},
  pages={269},
  publisher={Springer}
}