.
See: Application:track-video-features
A short sequence in a typical office scenario: Test with a sample video sequence published by Andrew Davison among his MonoSLAM works.
MRPT was used in the development of the WAMBOT robot. (University of Western Australia)
WAMBOT project website: http://wiki.mech.uwa.edu.au/index.php?title=MECH2499/MAGIC2010