主流VIO论文推导及代码解析

A general and flexible factor graph non-linear least square optimization framework

A collection of GTSAM factors and optimizers for point cloud SLAM

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

Factor graphs and loopy belief propagation implemented in Python

Overview and implementation of Belief Propagation and Loopy Belief Propagation algorithms: sum-product, max-product, max-sum

Factored inference for discrete-continuous smoothing and mapping.

Julia package for automatically generating Bayesian inference algorithms through message passing on Forney-style factor graphs.

Robust GNSS Processing With Factor Graphs

Lightweighted graph optimization (Factor graph) library.

Official repo for the paper "SAGE: SLAM with Appearance and Geometry Prior for Endoscopy" (ICRA 2022)

Maths, Estimation, Kinematics and Dynamics

A novel architecture in which the Factor Graph Optimization (FGO) is hybrid with the Extended Kalman Filter (EKF) for tightly coupled GNSS/UWB integration with online Temporal calibration (FE-GUT).

factor graph library

Software Release for "Incremental Covariance Estimation for Robust Localization"

Code release for "Evaluation of Precise Point Positioning Convergence with an Incremental Graph Optimizer".

General purpose C++ library for managing discrete factor graphs

Belief propagation with sparse matrices (scipy.sparse) in Python for LDPC codes. Includes NumPy implementation of message passing (min-sum and sum-product) and a few other decoders.

The algorithm solves the DC state estimation problem in electric power systems using the Gaussian belief propagation over factor graphs.

The FactorGraph package provides the set of different functions to perform inference over the factor graph with continuous or discrete random variables using the belief propagation algorithm.

Using visual markers, EKF, Factor Graphs, etc. to localize a handheld camera.

Factor graph visualization with d3.js

Software release for "Enabling Robust State Estimation through Measurement Error Covariance Adaptation"

General factor graph solver in rust

Source code and dataset for TKDE 2019 paper “Trust Relationship Prediction in Alibaba E-Commerce Platform”

Developed and implemented 2D and 3D Pose Graph SLAM using the GTSAM library and Gauss Newton Solver on the Intel and Parking Garage g2o datasets respectively

Offline Simultaneous Localization and Mapping using GTSAM

Gaussian belief propagation solver for noisy linear systems with real coefficients and variables.

Implementation of the Belief Propagation Side Channel Attack

Pratice and example to solve the pose graph SLAM problem using GTSAM