3d particle filter based slam

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Hi guys ,

I am aware of 2d slam using AMCL . Where 2d laser scans are compared with a global cost map to restimate the location .

I was wondering if there might be any algorithm out there which can do the following .

• First build a highly dense Point Cloud Mapusing a 3D lidar such as VLP16 .(I used this , https://github.com/ningwang1028/lidar...)
• Then using the above generated map , use depth output from Stereo/Depth camera to perform a 3d particle filter to re-estimate the location

If anyone has some pointers kindly share .