End-to-end SFM framework based on GTSAM

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

Gaussian Process Motion Planner 2

Wrapper generator for C++ projects with multiple language support

Various useful docker images. Hosted on https://hub.docker.com/repositories/borglab

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.

Evaluation of various Pre-integrated IMU Factors

GTSAM website

Project template using GTSAM + Matlab wrapping

Project template using GTSAM + python wrapping