[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.
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::maps::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
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.
See also: For Graph-SLAM, see the namespace mrpt::graphslam in the library mrpt-graphslam.