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). Results obtained from this project have appeared in some of the major robotics journals and conferences[1].
| Mobile Robot Programming Toolkit (MRPT) | |
|---|---|
 Obstacle avoidance on a robotic wheelchair. | |
| Developer(s) | The MAPIR group |
| Stable release | MRPT 0.6.5
/ February 9, 2009 |
| Operating system | Linux, Windows |
| Type | Robotics suite |
| License | GNU General Public License |
| Website | Official Webpage |
MRPT is open source and distributed under the GPL.
Some features included in the project as user-applications:
- Visualization and manipulation of large datasets.
- Off-line SLAM algorithms, using ICP, Extended Kalman filtering, 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, etc.
- mrpt-hwdrivers: Interfaces to robotic sensors: ARIA-compatible robots, GPS, Hokuyo laser scanners, etc.
- mrpt-reactivenav: An implementation of obstacle avoidance.
- mrpt-hmtslam: An implementation of Hybrid Metric-Topological SLAM.
The relation between the different libraries is sketched in the following diagram:
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
- Webots - A Professional Mobile Robot Simulator (Commercial)
- Microsoft Robotics Studio
- Player Project
- Robot software
- openslam.org - A good collection of open source code and explanations of SLAM.
- Arduino
References
- ^ A list of scientific papers in which MRPT has been used for producing the results.
External links
- Project main website.
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