The Mobile Robot Programming Toolkit

Below can be found dozens of tutorials covering topics from absolute MRPT beginners up to advanced technical details about some of the implemented algorithms.

• Tutorials: Using the MRPT applications
• Using the ScanMatching (ICP) module within the RawLogViewer
• Creating a synthetic 2D dataset with GridmapNavSimul
• Export GPS paths to Google Earth/Maps
• Grabbing your own Kinect datasets
• Joining two rawlog files together
• A practical case: building a map with a Joystick-guided robot (write me!)
• Capturing Rawlogs Using BABEL Modules (deprecated)
• Tutorials: Programming
• Basics
• Compiling MRPT
• Writing your first C++ program with MRPT
• Libraries in MRPT
• Which MRPT libs do I need?
• MRPT libraries tree layout
• Smart pointers
• Compiling custom applications in Linux with a Makefile and pkg-config
• Practical programming cases
• Switching between reading from a live Kinect or from a RGBD dataset for debugging
• Serialization
• Rawlog Format
• Serialization mechanisms
• Maths and Geometry
• Matrices, vectors, arrays and Linear Algebra: MRPT and Eigen classes
• 2D/3D Geometry
• Levenberg–Marquardt algorithm
• Random number generation
• RANSAC C++ examples
• SLERP interpolation
• Statistics and Bayes filtering
• Probability Density Distributions Over Spatial Representations
• Kalman Filters
• Particle Filters
• Particle Filter Algorithms
• Resampling Schemes
• Averaging Log-Likelihood Values:Numerical Stability
• Maps
• Occupancy Grids
• The hierarchical model of metric maps
• Graph-SLAM maps
• Scan matching and ICP
• 3D-ICP Example
• Iterative Closest Point (ICP) and other matching algorithms
• Odometry and motion models
• Differential Drive Kinematic Model
• Probabilistic Motion Models
• Images, image processing, camera models
• Calibration of different camera sensors with MRPT
• Efficient undistortion of sequences of Images
• Feature detection and tracking basics
• Rectifying stereo images
• Path & motion planning
• Obstacle avoidance
• Path planning with occupancy grid maps
• GUI windows and 3D OpenGL graphics
• Tutorial 3D Scenes
• Rendering video in 3D (OpenGL) windows
• Efficiently rendering point clouds of millions of points
• Implemented 2D Fonts
• Message boxes (rendered as vectorized OpenGL graphs)
• Support for the Stanford 3D models file format (PLY)
• Useful MACROS
• Macros for exception handling
• Tutorial:MRPT_START/MRPT_END
• Metaprogramming
• Metaprogramming:Type name to string
• Miscellaneous
• Kinect and MRPT
• About measurement units
• Generating 3D point clouds from RGB+D observations (CObservation3DRangeScan objects)
• Kinect calibration (Write me!)
• Robotic framework
• Unit testing in MRPT
• Tutorials: SLAM algorithms
• SLAM (Simultaneous Localization and Mapping) for beginners: the basics
• Derivation and Implementation of a Full 6D EKF-based Solution to Range-Bearing SLAM
• HMT-SLAM
• RBPF-SLAM algorithms (C++ library mrpt-slam)
• Tutorials: About the MRPT examples
• Example: Bundle Adjustment demo
• Example: Customization of OpenGL render viewports
• Example: Dijkstra optimal path search in graphs
• Example: graph_slam_demo
• Example: Gravity Simulation 3D
• Example: HokuyoURG
• Example: Kinect grabbing and 3D point cloud rendering
• Example: opengl_objects_demo
• Example: Polyhedron Intersection
• Example: Random number generation
• Example: RANSAC
• Example: rgbd_dataset2rawlog
• Example: SwissRanger SR4000 3D camera demo application
• Tutorials: Supported sensors and robotic hardware