Mobile Robot Programming Toolkit (MRPT) implements a versatile Rao-Blackwellized Particle Filter (RBPF) for practical robotics applications. At present, there are no Rao-Blackwellized Particle Filter ROS packages with such broad range of features. The existing slam_gmapping ROS package, which is based on gmapping from OpenSLAM, uses only grid-based maps from laser data. The implementation from the MRPT library can work simultaneously with multiple instances of grid-based maps, point maps, beacon maps and combinations of them. Moreover, MRPT provides several types of Particle Filters such as PF with Standard and Optimal [Grisetti et al., 2007] Proposals, as well as an Approximate Optimal Sampling [Blanco et al., 2008a]. Thus, existing slam_gmapping package features only a subset of this functionality and robotics community will benefit greatly from being able to use implementation offered by MRPT library. Therefore, the goal of this project is to provide MRPT-powered ROS packages for Rao-Blackwellized Particle Filter.


Vladislav Tananaev


  • Jose Luis Blanco-Claraco
  • Buzz