Mobile Robot Programming Toolkit - Console and GUI applications
The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform, and open source C++ library aimed to help robotics researchers to design and implement algorithms in the fields of Simultaneous Localization and Mapping (SLAM), computer vision, and motion planning (obstacle avoidance). This package provides a set of console and GUI applications for manipulating datasets, particle filtering localization and SLAM, grabbing data from robotic sensors, etc.
| Command | Description |
|---|---|
| DifOdometry-Camera | DIFODO (visual odometry method) live application |
| DifOdometry-Datasets | DIFODO (visual odometry method) from datasets |
| ReactiveNav3D-Demo | GUI demo of robot reactive navigation in 3D |
| carmen2rawlog | Convert robotic datasets between CARMEN and Rawlog formats |
| carmen2simplemap | Convert robotic datasets between CARMEN and simplemap formats |
| features-matching | Demonstration of image feature matching |
| gps2rawlog | Command-line tool to import raw GPS/GNSS logs to RawLog |
| graph-slam | Command-line Graph-SLAM hub application |
| grid-matching | Executes occupancy grid matching techniques |
| hmt-slam-gui | Robotic Hybrid Metric Topological (HMT) mappping GUI |
| holonomic-navigator-demo | GUI application for robot reactive navigation |
| icp-slam | SLAM method using scan matching |
| icp-slam-live | ICP-based SLAM using scan matching with a LIDAR in real-time |
| image2gridmap | Convert any image into an MRPT .gridmap file |
| kf-slam | SLAM method using Kalman filtering |
| kinect-3d-slam | Demo for Kinect sensor and 3D SLAM |
| kinect-3d-view | Demo for the Microsoft Kinect sensor |
| map-partition | Spectral bisection of observation graphs |
| mrpt-perfdata2html | Build HTML reports of performance tests |
| mrpt-performance | Complete performance test for MRPT |
| observations2map | Transforms a set of pairs <pose,observation> into metric maps. |
| pf-localization | MonteCarlo mobile robot localization |
| prrt-navigator-demo | Mobile robot navigation simulator |
| rawlog-edit | Command-line robotic datasets (rawlogs) manipulation tool |
| rawlog-grabber | Collects data from robotic sensors |
| rbpf-slam | Robot map building with Rao-Blackwellized Particle Filters |
| ro-localization | Monte-Carlo localization for beacon range-only measurements |
| simul-beacons | Robot dataset simulator |
| simul-gridmap | Robot dataset simulator from a gridmap and a predefined robot path |
| simul-landmarks | Robot dataset simulator |
| track-video-features | Demonstration of image feature detection and tracking |
| velodyne-view | Demo for grabbing and visualizing data from a Velodyne sensor |