High level components

Medium level components:

• Map
  • Corner Detection Algorithmes
    • Spike method
    • Vector Method
  • Detecting Movement with the Laser Range Finder
    • Map Component
      • Commands
• Position
  • SLAM
  • RANSAC
    • Performance
    • Concensus collect
    • NumPy
  • Position Module
    • Position Component
      • Commands
• Path Planner
  • Path module
    • Commands