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) 2017 Projects
Algorithm improvements to KD-Tree module: applications to ICPNanoflann is a C++ library provided by MRPT for building KD-Trees. The library is a fork of the widely-used FLANN C++ library and is mostly optimized...
GUI app to benchmark image feature detectors and descriptorsComputer Vision-based application for robotics rely on extracting meaningful features from images which can be used to perform many tasks like place...
MVSim developmentMany contemporary robotic applications need precise simulation and prognosing of system dynamics. Making a lightweight application that is tailored...
New GUI app to visualize and edit robot-made mapsI would like to develop a new GUI application based on Qt 5.5 or next version that should be able to load data in the simplemap format and visualize...