The Mobile Robot Programming Toolkit

• A collection of C++ libraries
• A set of applications and tools
• A repository of robotic datasets
• Works on:
  • GNU/Linux, Windows, MacOS
  • GCC, Visual Studio
  • amd64, x86, sparc, mips,...

  Read more...

• Tutorials

• C++ examples

• C++ API reference (stable, svn)

• The MRPT book (free PDF)

• The forums

• See also the video collection

• Your first C++ program with MRPT
• Maths, matrices & geometry
• Kalman filters
• Monte Carlo (particle filter) localization
• ICP algorithms
• Supported hardware and sensors
• Using Kinect from MRPT

  Read more...

• ICP SLAM

• RBPF SLAM (FastSLAM, etc.)

• EKF SLAM with landmarks

• Graphs of pose constraints (Graph-SLAM)

• Visual Bundle-Adjustment

  Read more...

• The mrpt::utils::CImage C++ class
• Feature detection and descriptors
  • Detectors: FAST, Harris, KLT, ...
  • Descriptors: SURF, SIFT, spin, ...
• Visual Bundle-Adjustment
• Live tracking demo program

  Read more...

• Holonomic algorithms:
  • Nearness-Diagram
  • Virtual Force Field
• Reactive navigation engine

• Navigation log viewer