<s>
The	O
Mobile	B-Language
Robot	I-Language
Programming	I-Language
Toolkit	I-Language
(	O
MRPT	B-Language
)	O
is	O
a	O
cross-platform	B-Operating_System
and	O
open	B-Application
source	I-Application
C++	B-Language
library	O
aimed	O
to	O
help	O
robotics	O
researchers	O
to	O
design	O
and	O
implement	O
algorithms	O
related	O
to	O
Simultaneous	B-Application
Localization	I-Application
and	I-Application
Mapping	I-Application
(	O
SLAM	O
)	O
,	O
computer	B-Application
vision	I-Application
and	O
motion	O
planning	O
(	O
obstacle	O
avoidance	O
)	O
.	O
</s>
<s>
Different	O
research	O
groups	O
have	O
employed	O
MRPT	B-Language
to	O
implement	O
projects	O
reported	O
in	O
some	O
of	O
the	O
major	O
robotics	O
journals	O
and	O
conferences	O
.	O
</s>
<s>
MRPT	B-Language
is	O
open	B-Application
source	I-Application
and	O
distributed	O
under	O
the	O
New	O
BSD	O
License	O
.	O
</s>
<s>
Versions	O
prior	O
to	O
1.0.0	O
were	O
released	O
under	O
the	O
GPL	B-License
.	O
</s>
<s>
SLAM	O
algorithms	O
:	O
incremental	O
mapping	O
with	O
ICP	B-General_Concept
,	O
Extended	O
Kalman	O
filtering	O
,	O
Rao-Blackwellized	O
particle	O
filters	O
and	O
GraphSLAM	O
.	O
</s>
<s>
Upon	O
a	O
selection	O
of	O
the	O
individual	O
libraries	O
provided	O
by	O
MRPT	B-Language
,	O
users	O
can	O
develop	O
new	O
applications	O
.	O
</s>
<s>
MRPT	B-Language
participated	O
in	O
Google	B-Application
Summer	I-Application
of	I-Application
Code	I-Application
in	O
2016	O
–	O
2018	O
.	O
</s>
<s>
Through	O
polymorphism	B-Application
in	O
the	O
design	O
of	O
metric-map	O
classes	O
,	O
observations	O
(	O
such	O
as	O
a	O
laser	O
scans	O
)	O
can	O
be	O
inserted	O
into	O
a	O
grid-map	B-General_Concept
or	O
a	O
map	O
of	O
points	O
,	O
or	O
both	O
simultaneously	O
,	O
transparently	O
to	O
the	O
user	O
.	O
</s>
<s>
Occupancy	B-General_Concept
grid	I-General_Concept
maps	O
.	O
</s>
