Software:Mobile Robot Programming Toolkit

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Mobile Robot Programming Toolkit (MRPT)
Logo of the MRPT project.png
MRPT logo
Developer(s)José Luis Blanco Claraco, contributors
Stable release
2.11.5 / December 21, 2023; 56 days ago (2023-12-21)[1]
Repositorygithub.com/MRPT/mrpt
Written inC++
Operating systemLinux, Windows, MacOS
PlatformCross-platform
TypeRobotics suite
LicenseNew BSD License
Websitewww.mrpt.org

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). Different research groups have employed MRPT to implement projects reported in some of the major robotics journals and conferences.[2][3][4][5][6]

MRPT is open source 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, Extended Kalman filtering, Rao-Blackwellized particle filters and GraphSLAM.
  • Grabbing datasets from robotic sensors.

Upon a selection of the individual libraries provided by MRPT,[7] users can develop new applications.

MRPT participated in Google Summer of Code in 2016–2018.[8][9]

Representation of metric maps

Through polymorphism 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

References

  1. ↑ "Releases · MRPT/mrpt". https://github.com/MRPT/mrpt. 
  2. ↑ J.L. Blanco; J. Gonzalez; J. and J.A. Fernández-Madrigal (2006). "Consistent observation grouping for generating metric-topological maps that improves robot localization". pp. 818–823. doi:10.1109/ROBOT.2006.1641810. 
  3. ↑ A. Harris; J.M. Conrad (March 2011). "Survey of popular robotics simulators, frameworks, and toolkits". pp. 243–249. doi:10.1109/SECON.2011.5752942. 
  4. ↑ Ryde, J.; Hu, H. (2010). "3D mapping with multi-resolution occupied voxel lists". Autonomous Robots (Springer) 28 (2): 169–185. doi:10.1007/s10514-009-9158-3. 
  5. ↑ Tuza, Z. and Rudan, J. and Szederkényi, G (Oct 2010). "Developing an integrated software environment for mobile robot navigation and control". pp. 1–6. doi:10.1109/IPIN.2010.5647506. 
  6. ↑ A list of scientific papers in which MRPT has been used for producing the results.
  7. ↑ MRPT.ORG (2013-10-08). "List of MRPT libraries". http://www.mrpt.org/Libraries. 
  8. ↑ GSOC (2018-08-07). "MRPT page in GSOC 2016". https://summerofcode.withgoogle.com/archive/2016/organizations/5644101080842240/. 
  9. ↑ GSOC (2018-08-07). "MRPT page in GSOC 2017". https://summerofcode.withgoogle.com/archive/2017/organizations/5289044053327872/. 

External links



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