Mobile Robot Programming Toolkit (MRPT)
Mobile Robot Programming Toolkit: empowering C++ development in robotics
Mobile Robot Programming Toolkit provides developers with portable and well-tested applications and C++ libraries covering data structures and algorithms employed in common robotics research areas. It is open source, released under the BSD license. Limited wrappers exist for Python and MATLAB. MRPT runs under Windows, GNU/Linux on a PC or on ARM embedded platforms (e.g. Raspberry Pi 2)
Created in 2005 and with tens of thousands of downloads, MRPT libraries include:
- SLAM/SfM solutions
- 3D(6D) geometry
- SE(2)/SE(3) Lie groups
- Probability density functions (pdfs) over points, landmarks, poses and maps
- Bayesian inference (Kalman filters, particle filters) for robot localization and mapping
- Image processing
- Obstacle avoidance for autonomous vehicles.
MRPT is mentioned in hundreds of scientific papers.
Mobile Robot Programming Toolkit (MRPT) 2016 Projects
Design and developement of a full graph-based SLAM strategy in mrptThe proposal at hand describes the working plan for developing a graph-based SLAM algorithm using the mrpt toolkit in the following summer. The...
PnP Algorithms toolkit for MRPTThe objective of this project is to develop a novel closed form Perspective n Point (PnP) pose estimation algorithm for a monocular camera. A...
ROS packages for versatile RBPF-based SLAMMobile Robot Programming Toolkit (MRPT) implements a versatile Rao-Blackwellized Particle Filter (RBPF) for practical robotics applications. At...