"3D mapping with multi-resolution occupied voxel lists". "Survey of popular robotics simulators, frameworks, and toolkits". IEEE International Conference on Robotics and Automation (ICRA). "Consistent observation grouping for generating metric-topological maps that improves robot localizatio". Upon a selection of the individual libraries provided by MRPT, users can develop new applications.
Grabbing datasets from robotic sensors. Off-line SLAM algorithms, using ICP, Extended Kalman filtering, or a Rao-Blackwellized particle filter. Visualization and manipulation of large datasets. Some features included in the project as user-applications: MRPT is open source and distributed under the GPL. Different research groups have applied it to implement projects reported in some of the major robotics journals and conferences. The Mobile Robot Programming Toolkit (MRPT) is a cross-platform and open source C++ library aimed to help robotics researchers to design and implement algorithms related to Simultaneous Localization and Mapping (SLAM), computer vision and motion planning (obstacle avoidance). If something that I have asked is unclear, I kindly ask you to mention it and I’ll try to be clearer.Obstacle avoidance on a robotic wheelchair. I have some more questions, but I think that if I receive answers for these then I might be able to figure out the rest. Does the theta j,sens correspond to the angle to which the sensor is to the object? If so, why is the function argmin used, since the argument is a scalar value, but the function argmin is used to find a minimum of a function where one variable is unknown? What does the index ‘j’ mean? It’s found in the last page in the pseudo-code line 5. Does this mean that the alpha variable is used in both the considerations of width of the beam (x coordinate) and the variance of the distance to the object (y coordinate)? But then, in the quoted text, alpha/2 is used in context of a ‘vertical’ distance or y coordinate by saying “if it lies more than alpha/2 behind the detected range zkt”. ” Is the variable zkt just a simple scalar value representing the distance in the case of a range sensor? Furthermore, in a situation where the sensor is perpendicular to some object to which the distance is measured, alpha is said to be the horizontal width of the measurement beam (if I understand correctly). It is then said that “In line 7, it returns the prior for occupancy in log-odds form whenever the cell is outside the measurement range of this sensor beam, or if it lies more than alpha/2 behind the detected range zkt. The variable alpha, mentioned in the last page, is said to be the width of the region, which, as I understand, is the width of the cone of the sensor as it considers an ultrasonic sensor. What exactly is the beam index k, mentioned in the same page?. 
Why is the transpose of the matrix given here instead of a simple matrix?
In the third picture at the bottom, the robot pose xt is described by a transpose of a matrix containing the x,y coordinates and the yaw angle of the robot. 
Here is a link containing a few pictures where the algorithm is described. I’m trying to understand occupancy grid mapping and its algorithm, however, I have a hard time understanding the notation and the concepts used here, so I could use some help.
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