FAQC2015 is a project funded by Università degli Studi di Milano - Bicocca under the call FAQC (Fondo di Ateneo Quota Competitiva) 2015, a call reserved to project proposals that were previously submitted to a competitive call, were reviewed, evaluated beyond the thresholds, but did not get funded by the funding body issuing the call. In our case, we presented the ASSET (an Autonomous Shuttle Service for the Elderly Transportation) project proposal, which was submitted to the Echord++ project 2nd call for experiments. The Echord++ project s funded by EEC as part of the 7th FP. The ASSET project partners were: Politecnico di Milano, Università degli Studi di Milano – Bicocca, Fondazione Bruno Kessler, Zucchetti Centro Sistemi. The contribution of Università degli Studi di Milano – Bicocca in ASSET was on machine perception techniques for mapping, global localizzation, and local world modeling (local to the vehicle during its motion). The approaches were expected to rely on 3D sensing with both laser scanners and cameras.