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.

End-to-end SFM framework based on GTSAM

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.

Evaluation of various Pre-integrated IMU Factors

Wrapper generator for C++ projects with multiple language support

GTSAM website

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

Repo to collect resources on the invariant and equivariant filter - GTSAM biased :-)

Our hosted version of CppUnitLite for infrastructure purposes.

Gaussian Process Motion Planner 2