最終更新:2012-05-19 (土) 00:30:49 (2315d)  

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The Mobile Robot Programming Toolkit

http://www.mrpt.org/

About MRPT

  • Mobile Robot Programming Toolkit (MRPT) provides C++ developers an extensive, portable and well-tested set of libraries and applications which cover the most common data structures and algorithms employed in a number of mobile robotics research areas: localization, Simultaneous Localization and Mapping (SLAM), computer vision and motion planning (obstacle avoidance).
  • Key points in the design of MRPT are efficiency and reusability of code. The libraries include classes for easily managing 3D(6D) geometry, probability density functions (pdfs) over many predefined variables (points and poses, landmarks, maps), Bayesian inference (Kalman filters, particle filters), computer vision, SLAM, path planning and obstacle avoidance, 3D visualization of all kind of maps (points, occupancy grids, landmarks, graphs, ...), etc. Gathering, manipulating and inspecting very large robotic datasets (Rawlogs) efficiently is another goal of MRPT, supported by several classes and applications.

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