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
Computer vision is an interdisciplinary scientific field that deals with how computers can gain high-level understanding from digital images or videos. From the perspective of engineering, it seeks to understand and automate tasks that the hum ...
and
motion planning (obstacle avoidance). Different research groups have employed MRPT to implement projects reported in some of the major robotics journals and conferences.
MRPT is
open source
Open source is source code that is made freely available for possible modification and redistribution. Products include permission to use the source code, design documents, or content of the product. The open-source model is a decentralized sof ...
and distributed under the
New BSD License. Versions prior to 1.0.0 were released under the
GPL.
Some features included in the project as user-applications:
* Visualization and manipulation of large datasets.
* SLAM algorithms: incremental mapping with
ICP ICP may refer to:
Business
* ICP srl, Italian manufacturer of automotive equipment and kit aircraft
*Ideal customer profile: see Qualified prospect
* International Comfort Products Corporation, US air conditioning and heating company
* Indonesi ...
, Extended
Kalman filtering,
Rao-Blackwellized particle filters and
GraphSLAM.
* Grabbing datasets from
robotic sensors
Robotic sensors are used to estimate a robot's condition and environment. These signals are passed to a controller to enable appropriate behavior.
Sensors in robots are based on the functions of human sensory organs. Robots require extensive info ...
.
Upon a selection of the individual libraries provided by MRPT, users can develop new applications.
MRPT participated in
Google Summer of Code in 2016–2018.
Representation of metric maps
Through
polymorphism
Polymorphism, polymorphic, polymorph, polymorphous, or polymorphy may refer to:
Computing
* Polymorphism (computer science), the ability in programming to present the same programming interface for differing underlying forms
* Ad hoc polymorphis ...
in the design of metric-map classes, observations (such as a laser scans) can be inserted into a
grid-map or a map of points, or both simultaneously, transparently to the user.
The following representations of metric maps are implemented:
* Occupancy grid maps.
* Point maps.
* Landmark maps: discrete elements are 3D points sensed through range and bearing. For example,
visual landmarks.
* Beacon maps: elements are also 3D points, but sensed by means of range-only devices.
* Coloured point maps.
* Gas concentration maps.
* A "multi map", collections of any of the other maps, behaving as a single map.
See also
*
Webots - A Professional Mobile Robot Simulator (Commercial)
*
Microsoft Robotics Studio
Microsoft Robotics Developer Studio (Microsoft RDS, MRDS) is a discontinued Windows-based environment for robot control and simulation that was aimed at academic, hobbyist, and commercial developers and handled a wide variety of robot hardware. I ...
*
Player Project
*
Robot software
*
Arduino
References
External links
*
Free software programmed in C++
Robotics suites
Software that uses wxWidgets
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