I finished creating the brute-force SLAM algorithm for the lidar project. Simply put, the algorithm tests all possible movement, calculates the offsets of all these movements and then it uses the calculated movement with the least offset. The algorithm seems to be pretty reliable. It was made in OpenCL. The algorithm must run on a GPU, as a CPU isn’t powerful enough to handle all the calculations. OpenCL enables this and also opens the path to heterogenous computing (computing on more than 1 core.) A high-end graphics card is not required, my Intel HD 4000 integrated in my i5-3320m can easily run it.