Library overview: mrpt-slam

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mrpt-slam

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Interesting stuff in this library:

• mrpt::slam::CMetricMapBuilder: A virtual base for both ICP and RBPF-based SLAM.

• mrpt::slam::CMonteCarloLocalization2D: Particle filter-based (Monte Carlo) localization for a robot in a planar scenario.

• mrpt::slam::CMultiMetricMap: The most versatile kind of metric map, which contains an arbitrary number of any other maps.

• Kalman Filters-based Range-Bearing SLAM, in 2D and 3D: See mrpt::slam::CRangeBearingKFSLAM and mrpt::slam::CRangeBearingKFSLAM2D.

• Data association: The NN and the JCBB algorithms, as very generic templates. See data_association.h

• Graph-SLAM: See graph_slam.h

See the full list of classes in mrpt::slam. Note that there are many classes in that namespace not in the library mrpt-slam, but in libraries mrpt-slam depends on. However, in you set mrpt-slam as a dependence of your project, you can be safe all mrpt::slam classes will be available to you.