Robotics is now a well-established but constantly evolving sector which has reached multiple field ranging from large manipulators for industry applications to smarter mobile robots for housework that requires greater human interaction capabilities. An interesting branch in the robotics world is the Service Robotics, whose main purpose is to help people and improve their quality of life. Mobile robots are widely used in this area, they have to carry out tasks that require them to navigate in known and unknown spaces, thus are of paramount importance the abilities to measure the space around them with different kind of sensors (Lidar, camera, TOF, …) and to try to have a perception of their position in the 3D-space (Odometry).