Mobile Robot Programming Toolkit Mobile Robot Programming Toolkit open source C++ library aimed to help robotics researchers to design and implement algorithms related to Simultaneous Localization and Mapping , computer vision and motion planning . Different research groups have employed MRPT to implement projects reported in some of the major robotics journals and conferences.source and distributed under the New BSD License . Versions prior to 1.0.0 were released under the GPL .features included in the project as user-applications:Google Summer of Code in 2016-2018.Representation of metric maps Through polymorphism in the design of metric-map classes, observations can be inserted into a grid-map or a map of points, or both simultaneously, transparently to the user. Occupancy grid maps. Point maps. Landmark maps: discrete elements are 3D points sensed through range and bearing. For example, 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 a single map.
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