[mrpt_slam]
Overview
SLAM and PF-localization algorithms
Library mrpt_slam
This library is part of MRPT and can be installed in Debian-based systems with:
sudo apt install libmrpt-slam-dev
Read also how to import MRPT into your CMake scripts.
mrpt_slam provides SLAM and probabilistic localization algorithms:
Localization
mrpt::slam::CMonteCarloLocalization2D: Particle filter (Monte Carlo) localization for a robot in a planar scenario.
mrpt::slam::CMonteCarloLocalization3D: 3D particle-filter localization.
Metric-map-based SLAM
mrpt::slam::CMetricMapBuilder: Virtual base for ICP and RBPF-based SLAM.
mrpt::slam::CMetricMapBuilderICP: Incremental ICP-based mapping.
mrpt::slam::CMetricMapBuilderRBPF: Rao-Blackwellized Particle Filter SLAM.
Landmark-based (EKF) SLAM
mrpt::slam::CRangeBearingKFSLAM: Range-bearing EKF SLAM in 3D.
mrpt::slam::CRangeBearingKFSLAM2D: Range-bearing EKF SLAM in 2D.
Multi-metric maps
mrpt::maps::CMultiMetricMap: Contains an arbitrary combination of metric maps (occupancy grids, point clouds, landmark maps, etc.) updated simultaneously.
Data association
The data_association.h header provides both NN and JCBB algorithms as generic templates — suitable for any measurement/landmark combination.
See also: For Graph-SLAM, see the namespace mrpt::graphslam in mrpt_graphslam.