Nanoflann is a C++ library provided by MRPT for building KD-Trees. The library is a fork of the widely-used FLANN C++ library and is mostly optimized for lower dimensional point clouds. Most ICP algorithms for robot SLAM and localization require finding nearest neighbor in 2D/3D point clouds. Support for dynamic point clouds and nearest neighbour query in non flat spaces are two paramount features which are missing in the current nanoflann library.


Pranjal Kumar Rai


  • Jose-Luis Blanco
  • Feroze Naina