imported>Jerryobject: Template:Infobox software, WP:REFerence WP:CITation parameters: cut whitespace characters to standardize, aid work on small screens, add, fill, author > last + first, reorder, needless underscores > spaces, update-standardize-conform. WP:LINKs: update-standardize, adds, needless WP:PIPE > WP:NOPIPE. Nonlead-word proper + nonproper noun MOS:CAPS > WP:LOWERCASE sentence case. Small WP:COPYEDITs WP:EoS: WP:TERSE, cut needless word repeats.

2024-10-02T08:13:20Z

Template:Infobox software, WP:REFerence WP:CITation parameters: cut whitespace characters to standardize, aid work on small screens, add, fill, author > last + first, reorder, needless underscores > spaces, update-standardize-conform. WP:LINKs: update-standardize, adds, needless WP:PIPE > WP:NOPIPE. Nonlead-word proper + nonproper noun MOS:CAPS > WP:LOWERCASE sentence case. Small WP:COPYEDITs WP:EoS: WP:TERSE, cut needless word repeats.

New page

{{Infobox software
| name = Mobile Robot Programming Toolkit (MRPT)
| screenshot = Logo of the MRPT project.png
| screenshot size = 150px
| caption = MRPT logo
| developer = [https://w3.ual.es/~jlblanco/ José Luis Blanco Claraco], [https://github.com/MRPT/mrpt/blob/master/AUTHORS contributors]
| genre = [[Robotics suite]]
| license = [[BSD licenses#3-clause|BSD 3-clause]]
| latest release version = 2.11.5
| latest release date = {{Start date and age|2023|12|21}}<ref>{{cite web |url=https://github.com/MRPT/mrpt |title=Releases: MRPT |website=[[GitHub]].com |access-date=2024-01-13}}</ref>
| operating system = [[Linux]], [[Microsoft Windows|Windows]], [[macOS]]
| programming language = [[C++]]
| platform = [[Cross-platform]]
| repo = {{URL|https://github.com/MRPT/mrpt}}
| website = {{URL|www.mrpt.org}}
}}

The '''Mobile Robot Programming Toolkit''' ('''MRPT''') is a [[cross-platform software]] [[C++]] [[Library (computing)|library]] for helping [[robotics]] researchers design and implement [[algorithm]]s related to [[simultaneous localization and mapping]] (SLAM), [[computer vision]], and [[motion planning]] (obstacle avoidance). Different research groups have employed MRPT to implement projects reported in some of the major robotics journals and conferences.<ref>{{cite conference |citeseerx=10.1.1.127.3097 |title=Consistent observation grouping for generating metric-topological maps that improves robot localization |last1=Blanco |first1=J. L. |last2=Gonzalez |first2=J. |last3=Fernández-Madrigal |first3=J. and J.A. |year=2006 |book-title=IEEE International Conference on Robotics and Automation (ICRA) |pages=818–823 |doi=10.1109/ROBOT.2006.1641810}}</ref><ref>{{cite conference |title=Survey of popular robotics simulators, frameworks, and toolkits |last1=Harris |first1=A. |last2=Conrad |first2=J.M. |date=March 2011 |book-title=Proceedings of IEEE Southeastcon |pages=243–249 |doi=10.1109/SECON.2011.5752942}}</ref><ref>{{cite journal |last1=Ryde |first1=J. |last2=Hu |first2=H. |year=2010 |title=3D mapping with multi-resolution occupied voxel lists |journal=Autonomous Robots |volume=28 |issue=2 |pages=169–185 |publisher=Springer |doi=10.1007/s10514-009-9158-3 |citeseerx=10.1.1.153.5916 |s2cid=6659876}}</ref><ref>{{cite conference |last1=Tuza |first1=Z. |last2=Rudan |first2=J. |last3=Szederkényi |first3=G |date=October 2010 |chapter=Developing an integrated software environment for mobile robot navigation and control |title=International Conference on Indoor Positioning and Indoor Navigation |pages=1–6 |doi=10.1109/IPIN.2010.5647506}}</ref><ref>[http://www.mrpt.org/Papers A list of scientific papers] in which MRPT has been used for producing the results.</ref>

MRPT is [[free and open-source software]] released under the [[BSD licenses#3-clause|BSD 3-clause]] license; pre-1.0.0 versions were released under the [[GNU General Public License]] (GPL).

Some features included in the project as user-applications:
* Visualization and manipulation of large datasets.
* SLAM algorithms: incremental mapping with [[Iterative Closest Point|ICP]], Extended [[Kalman filter]]ing, Rao-Blackwellized particle filters and [[GraphSLAM]].
* Grabbing datasets from [[robotic sensors]].

Upon a selection of the individual libraries provided by MRPT,<ref>{{cite web |author=MRPT.org |url=http://www.mrpt.org/Libraries |title=List of MRPT libraries |date=2013-10-08 |access-date=2014-04-19}}</ref> users can develop new applications.

MRPT participated in [[Google Summer of Code]] in 2016–2018.<ref>{{cite web |author=GSOC |url=https://summerofcode.withgoogle.com/archive/2016/organizations/5644101080842240/ |title=MRPT page in GSOC 2016 |date=2018-08-07 |access-date=2018-08-07 |archive-date=2020-10-26 |archive-url=https://web.archive.org/web/20201026071254/https://summerofcode.withgoogle.com/archive/2016/organizations/5644101080842240/ |url-status=dead}}</ref><ref>{{cite web |author=GSOC |url=https://summerofcode.withgoogle.com/archive/2017/organizations/5289044053327872/ |title=MRPT page in GSOC 2017|date=2018-08-07 |access-date=2018-08-07}}</ref>

== Representation of metric maps ==
Through [[Polymorphism (computer science)|polymorphism]] in the design of metric-map classes, observations (such as a laser scans) can be inserted into a [[Occupancy grid mapping|grid-map]] or a map of points, or both simultaneously, transparently to the user.

The following representations of metric maps are implemented:
* Occupancy grid maps
* Point maps
* Landmark maps: discrete elements are 3D points sensed through range and bearing; for example, [[Interest point detection|visual landmarks]]
* Beacon maps: elements are also 3D points, but sensed by means of range-only devices
* Coloured point maps
* Gas concentration maps
* A ''multi map'', collections of any of the other maps, behaving as one map

== See also ==
{{Portal|Free and open-source software}}
* [[Webots]] - professional commercial mobile robot simulator
* [[Microsoft Robotics Studio]]
* [[Player Project]]
* [[Robot software]]
* [[Arduino]]

==References==
{{Reflist}}

==External links==
* {{Official website|www.mrpt.org}}

[[Category:C++ libraries]]
[[Category:Robotics suites]]
[[Category:Software that uses wxWidgets]]
[[Category:Software using the BSD license]]

Mobile Robot Programming Toolkit - Revision history