Mobile Robot Programming Toolkit

Mobile Robot Programming Toolkit (MRPT)
File:Mrpt icp-slam screenshot.png Building a map from a dataset of 2D laser scans.
Developer(s)	The MAPIR group
Stable release	MRPT 0.6.0 / August 14, 2008
Operating system	Linux, Windows
Type	Robotics suite
License	GNU General Public License
Website	Official Webpage

The Mobile Robot Programming Toolkit (MRPT) is a cross-platform and open source C++ library aimed to help robotics researchers to design and implement algorithms related to Simultaneous Localization and Mapping (SLAM), computer vision and motion planning (obstacle avoidance). Results obtained from this project have appeared in some of the major robotics journals and conferences.

MRPT is open source and distributed under the GPL.

Some features included in the project as user-applications:

• Visualization and manipulation of large datasets.
• Off-line SLAM algorithms, using ICP, Extended Kalman filtering, or Rao-Blackwellized particle filtering.
• Grabbing datasets from robotic sensors.

The project also contains a number of individual libraries, upon which new applications can be built. Briefly, these libraries cover the following topics:

File:Mrpt libs.png

• mrpt-core: Linear algebra, statistics, SLAM algorithms, 3D geometry, GUI classes for 2D and 3D visualization, etc.
• mrpt-hwdrivers: Interfaces to robotic sensors: ARIA-compatible robots, GPS, Hokuyo laser scanners, etc.
• mrpt-reactivenav: An implementation of obstacle avoidance.
• mrpt-hmtslam: An implementation of Hybrid Metric-Topological SLAM.

See also

• Microsoft Robotics Studio
• Player Project
• Robot software
• openslam.org - A good collection of open source code and explanations of SLAM.

External links

• Project main website.