The Mobile Robot Programming Toolkit

This page aims at listing all SLAM (or related) methods implemented in MRPT, and if exists, their documentation:

• ICP-SLAM (see also icp-slam program)
• RBPF-SLAM (see also rbpf-slam program)
• 6D EKF/IEKF-SLAM (see also the kf-slam program)
• Graph-SLAM (see also graph-slam program and this example)
• Bundle Adjustment methods (see also this example)

See also the page SLAM for beginners.

List of C++ classes for SLAM in MRPT:

• Metric SLAM algorithms (part of the library mrpt-slam)
• Graph-SLAM algorithms (the library mrpt-graphslam)
• Hybrid Metric-Topological (HMT) SLAM C++ classes (the library mrpt-hmtslam)