The Mobile Robot Programming Toolkit (MRPT) is a cross-platform software C++ library for helping robotics researchers 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 logo | |
| Developer(s) | José Luis Blanco Claraco, contributors |
|---|---|
| Stable release | 2.11.5
/ December 21, 2023[1] |
| Repository | github |
| Written in | C++ |
| Operating system | Linux, Windows, macOS |
| Platform | Cross-platform |
| Type | Robotics suite |
| License | BSD 3-clause |
| Website | www |
MRPT is free and open-source software released under the BSD 3-clause license; pre-1.0.0 versions were released under the GNU General Public License (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
editThrough 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 one map
See also
edit
- Webots - professional commercial mobile robot simulator
- Microsoft Robotics Studio
- Player Project
- Robot software
- Arduino
References
edit- ^ "Releases: MRPT". GitHub.com. Retrieved 2024-01-13.
- ^ Blanco, J. L.; Gonzalez, J.; Fernández-Madrigal, J. and J.A. (2006). "Consistent observation grouping for generating metric-topological maps that improves robot localization". IEEE International Conference on Robotics and Automation (ICRA). pp. 818–823. CiteSeerX 10.1.1.127.3097. doi:10.1109/ROBOT.2006.1641810.
- ^ Harris, A.; Conrad, J.M. (March 2011). "Survey of popular robotics simulators, frameworks, and toolkits". Proceedings of IEEE Southeastcon. pp. 243–249. doi:10.1109/SECON.2011.5752942.
- ^ Ryde, J.; Hu, H. (2010). "3D mapping with multi-resolution occupied voxel lists". Autonomous Robots. 28 (2). Springer: 169–185. CiteSeerX 10.1.1.153.5916. doi:10.1007/s10514-009-9158-3. S2CID 6659876.
- ^ Tuza, Z.; Rudan, J.; Szederkényi, G (October 2010). "Developing an integrated software environment for mobile robot navigation and control". International Conference on Indoor Positioning and Indoor Navigation. pp. 1–6. doi:10.1109/IPIN.2010.5647506.
- ^ A list of scientific papers in which MRPT has been used for producing the results.
- ^ MRPT.org (2013-10-08). "List of MRPT libraries". Retrieved 2014-04-19.
- ^ GSOC (2018-08-07). "MRPT page in GSOC 2016". Archived from the original on 2020-10-26. Retrieved 2018-08-07.
- ^ GSOC (2018-08-07). "MRPT page in GSOC 2017". Retrieved 2018-08-07.