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).

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), image processing, path planning and obstacle avoidance, 3d visualization of all kind of maps (points, occupancy grids, landmarks,...), etc. gathering, manipulating and inspecting very large robotic datasets (rawlogs) efficiently is another goal of mrpt, supported by several classes and applications.

the mrpt is free software and is released under the gpl.

this package provides the mrpt core libraries: linear algebra, serialization, os-abstraction layer, scan matching, metric maps, 2d/3d geometry and poses, slam algorithms, image manipulation and computer vision algorithms.