GTSAM 4.3
@gtsam4
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GTSAM is a sensor fusion library based on factor graphs
Joined May 2019
RT @fdellaert: We just released the first alpha version of GTSAM 4.3. It has been a long time coming, but happy to share our many updates d….
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Trajectory optimization and control for quad rotors in GTSAM. Runs in colab, as well!.
@sethahutchinson and I uploaded a 101 intro to quad-rotor trajectory optimization and control at . - This draft is targeted at undergrads, let me know what you think!.- There is an “open in Colab” button, so you can run the examples right in your browser!.
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RT @fdellaert: After GTSAM, GTSfM, and GTDynamics, you just *know* GTGPT is next, right ? :-) Here is a GPT for interacting with factor gra….
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A lot of Georgia Tech papers at IROS 2022 in Kyoto, including a few GTSAM-heavy ones:
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4.1.1 tagged and released, also released as Python package (just pip install gtsam, even on M1!).
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RT @varagrawal: We released a new patch version of @gtsam4 today. This has a lot of really nice fixes and cleanup, hoping the #robotics com….
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Deep learning and @gtsam4 . What’s not to like?.
Excited to share our work at #CoRL2021 on learning observation models end-to-end in factor graphs! We show that learning observation models can be viewed as shaping energy functions that graph optimizers, even non-differentiable ones, optimize.🧵.1/.
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RT @dynamicrobots: As ever we use @gtsam4 in our back-end. Thanks to Davide, @michaelkaess, @fdellaert and co for its development. https:….
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Factor graphs and mechanics!.
In part B of my "wrenches tutorial" I do statics with factor graphs, to answer what is better: hips or ankle actuation? Mechanics and @gtsam4 are a match made in heaven!
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Three-part blog post by @mmattamala on the cool math underlying GTSAM.
Uncertainties are everywhere in robotics and are fundamental for probabilistic methods such as factor graphs. However, frames, conventions, and other concepts can make things confusing. I wrote 3 posts for invited by @fdellaert to explain this.
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New blog post!.
New blog post and accompanying video about "Mount Rainier's Eigenvector", in which I discuss how to estimate the shape of a mountain and tie it in to the "Graph Laplacian" and its eigenvalues/eigenvectors. Post: .Video:
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Expect an announcement about #gtsam41 soon, but for now try it out with Shonan Rotation Averaging in a colab, see thread below!.
Shonan Rotation Averaging website is live at
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RT @fdellaert: Today we released GTSAM 4.0.3 in advance of 4.1, with an important Pose3 update, and a cool blog post by @FanOnRobotics abou….
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RT @RoboticsSciSys: Join us today for two incredible events -- available to *everyone*:. 🏆Test of Time Award Talk by Frank Dellaert @fdella….
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Factor graphs stand the test of time!.
Honored and humbled to get the “test of time award” at RSS, with @michaelkaess for our work on Square Root SAM, introducing factor graphs and eventually leading to iSAM, iSAM2, and @gtsam4 . Tune in for a special keynote next Tuesday:
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