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This is a repository of scientific papers whose experimental results were carried out using the MRPT library and tools. Along with each paper, you'll also find the corresponding datasets, the source code used for the experiments and/or instructions/scripts to reproduce the results.
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See also: A direct search in Google Scholar for publications mentioning MRPT.
"6 DoF SLAM using a ToF Camera: The challenge of a continuously growing number of landmarks", Siegfried Hochdorfer, Christian Schlegel, IROS 2010 - (Link).
Authors are with the Collaborative Center for Applied Research (http://www.zafh-servicerobotik.de/), Ulm, Germany.
Online video with results from this paper:
"Optimal Filtering for Non-Parametric Observation Models: Applications to Localization and SLAM", J.L. Blanco, J. Gonzalez, J.A. Fernandez-Madrigal, The International Journal of Robotics Research (IJRR), (In press), DOI: 10.1177/0278364910364165 2010.
Technical report: "Derivation and Implementation of a Full 6D EKF-based Solution to Range-Bearing SLAM", Jose-Luis Blanco, Perception and Mobile Robots Research Group, University of Malaga, Spain. (new version AUG-2010: PDF - soon!, old version: PDF)
This document describes the theory behind the application kf-slam.
Bibtex info:
"A tutorial on SE(3) transformation parameterizations and on-manifold optimization", J.L. Blanco, Technical report, 2010. (PDF, Bibtex). Updated: 12/SEP/2010.
Abstract: An arbitrary rigid transformation in SE(3) can be separated into two parts, namely, a translation and a rigid rotation. This technical report reviews, under a unifying viewpoint, three common alternatives to representing the rotation part: sets of three (yaw-pitch-roll) Euler angles, orthogonal rotation matrices from SO(3) and quaternions. It will be described: (i) the equivalence between these representations and the formulas for transforming one to each other (in all cases considering the translational and rotational parts as a whole), (ii) how to compose poses in each representation and (iii) how the uncertainty of the poses (when modeled as Gaussian distributions) is affected by these transformations and compositions. Some brief notes are also given about the Jacobians required to implement least-squares optimization on manifolds, an very promising approach in recent SLAM literature. The text reflects which MRPT C++ library functions implement each of the described algorithms. All the implementations have been thoroughly validated by means of unit testing.