Project Summary
Mobile Robot Programming Toolkit (MRPT) provides C++ developers an extensive, portable and well-tested set of libraries and applications which cover the most common data structures and algorithms employed in a number of mobile robotics research areas: localization, Simultaneous Localization and Mapping (SLAM), computer vision and motion planning (obstacle avoidance).
Key points in the design of MRPT are efficiency and reusability of code. The libraries include classes for easily managing 3D(6D) geometry, probability density functions (pdfs) over many predefined variables (points and poses, landmarks, maps), Bayesian inference (Kalman filters, particle filters), computer vision, SLAM, path planning and obstacle avoidance, 3D visualization of all kind of maps points, occupancy grids, ...
In a Nutshell, mrpt...
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has a well established, mature codebase
maintained by a average size development team
with decreasing Y-O-Y commits -
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took an estimated 195 years of effort (COCOMO model)
starting with its first commit in June, 2010
ending with its most recent commit 3 days ago
Quick Reference
3-Clause BSD License
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Project Security
Vulnerabilities per Version ( last 10 releases )
There are no reported vulnerabilities
Project Vulnerability Report
Security Confidence Index
Vulnerability Exposure Index
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30 Day SummaryFeb 10 2026 — Mar 12 2026
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12 Month SummaryMar 12 2025 — Mar 12 2026
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