The Mobile Robot Programming Toolkit (MRPT) is a cross-platform software C++ library for helping robotics researchers design and implement algorithms 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. MRPT is free and open-source software released under the 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: Upon a selection of the individual libraries provided by MRPT, users can develop new applications. MRPT participated in Google Summer of Code in 2016–2018.

Representation of metric maps

Through polymorphism in the design of metric-map classes, observations (such as a laser scans) can be inserted into a grid-map or a map of points, or both simultaneously, transparently to the user. The following representations of metric maps are implemented: