Mobile Robot Programming Toolkit: Difference between revisions

Revision as of 17:27, 1 June 2010

Revision as of 04:23, 7 June 2010

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{{Infobox Software software|

| name = Mobile Robot Programming Toolkit (MRPT)

| screenshot = [[Image:SENA_robot_navigation_demo_mlg2007SENA robot navigation demo mlg2007.jpg|200px]]

| caption = Obstacle avoidance on a robotic wheelchair.

| latest_release_version = MRPT 0.6.5

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}}

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_mappingSimultaneous localization and mapping|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<ref>[http://www.mrpt.org/Papers A list of scientific papers] in which MRPT has been used for producing the results.</ref>.

MRPT is [[open source]] and distributed under the [[GPL]].

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Some features included in the project as user-applications:

* Visualization and manipulation of large datasets.

* Off-line [[Simultaneous_localization_and_mappingSimultaneous localization and mapping|SLAM]] algorithms, using [[Iterative_Closest_PointIterative Closest Point|ICP]], Extended [[Kalman_filter|Kalman filteringfilter]]ing, or a [[Rao-Blackwellized particle filter]].

* Grabbing datasets from robotic sensors.

Upon a selection of the individual libraries provided by MRPT, users can develop new applications. This is a summary of the topics covered by these libraries:

* ''mrpt-core'': [[Linear algebra]], statistics, SLAM algorithms, 3D geometry, GUI classes for 2D and 3D visualization, [[Serialization_Serialization (computing)|serialization]], etc.

* ''mrpt-hwdrivers'': Interfaces to robotic sensors: [http://robots.mobilerobots.com/ARIA/ ARIA]-compatible robots, GPS, Hokuyo [[LIDAR|laser scanners]], etc.

* ''mrpt-reactivenav'': An implementation of [[Motion_planningMotion planning|obstacle avoidance]].

* ''mrpt-hmtslam'': An implementation of Hybrid Metric-Topological SLAM.

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[[Image:Mrpt libs schematic.png]]

</center>

== Representation of metric maps ==

Through [[Polymorphism_in_objectPolymorphism in object-oriented_programmingoriented programming| polymorphism]] in the design of metric-map classes, observations (such as a laser scans) can be inserted into a [[Occupancy_grid_mappingOccupancy grid mapping|grid-map]] or a map of points , or both simultaneously, transparently to the user.

The following representations of metric maps are implemented:

* [[Occupancy_grid_mappingOccupancy grid mapping|Occupancy grid maps]].

* Point maps.

* Landmark maps: discrete elements are 3D points sensed through range and bearing. For example, [[Interest_point_detectionInterest |point detection|visual landmarks]].

* Beacon maps: elements are also 3D points, but sensed by means of range-only devices.

* Coloured point maps.

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== See also ==

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* [[Webots]] - A Professional Mobile Robot Simulator (Commercial)

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[[Category:Robotics suites]]

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