Mobile Robot Programming Toolkit - Console and GUI applications

Mobile Robot Programming Toolkit - Console and GUI applications



The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform, and open source C++ library aimed to help robotics researchers to design and implement algorithms in the fields of Simultaneous Localization and Mapping (SLAM), computer vision, and motion planning (obstacle avoidance).

This package provides a set of console and GUI applications:

  • rawlog-grabber: Record datasets from robotic sensors.
  • RawLogViewer: Robotic dataset viewer and manipulator.
  • ReactiveNavigationDemo: Obstacle avoidance GUI demo.
  • SceneViewer3D: GUI viewer of MRPT 3D scenes.
  • camera-calib: Interactive camera calibration tool.
  • icp-slam
  • kf-slam
  • graph-slam
  • 2d-slam-demo: GUI didactic robotic SLAM demo.
  • map-partition
  • observations2map: Converts simplemaps into metric maps.
  • pf-localization: Particle filter localization (Monte Carlo localization).
  • ro-localization
  • rbpf-slam: Rao-Blackwellized Particle Filter for SLAM.
  • simul-landmarks
  • simul-beacons
  • simul-gridmap
  • GridmapNavSimul
  • grid-matching
  • rawlog-edit
  • navlog-viewer: GUI viewer of navigation logs.
  • features-matching: Computer vision demo.
  • kinect-icp-slam: Example 3D mapping with Xbox Kinect
  • kinect-view: Example 3D mapping with Xbox Kinect
  • robotic-arm-kinematics: GUI for design of robot arms with Denavit-Hartenberg parameters.
  • srba-slam: Sparser Relative Bundle Adjustment (RBA) and Relative Graph-SLAM.
  • prrt-navigator-demo (Experimental!)

License: Open Source
Version: 1.0.0