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    16 repositories

    • gtsam-robust-solver

      Public
      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.
      C++
      •
      Other
      •902•0•0•0•Updated Sep 7, 2025Sep 7, 2025

    • TrustRegionSVI

      Public
      A Trust-Region Method for Graphical Stein Variational Inference
      0•0•0•0•Updated Jun 9, 2025Jun 9, 2025

    • CertifiableFactors

      Public
      Code of the paper "Simplifying Certifiable Estimation: A Factor Graph Optimization Approach"
      C++
      •
      MIT License
      •2•27•0•0•Updated May 28, 2025May 28, 2025

    • optimal_camera_placement

      Public
      Python
      •2•15•1•0•Updated May 28, 2025May 28, 2025

    • OASIS

      Public archive
      Jupyter Notebook
      •2•0•0•0•Updated Oct 18, 2024Oct 18, 2024

    • MultiCamSLAM

      Public
      Use ALL the cameras :-D!
      C++
      •
      MIT License
      •32•0•0•0•Updated Jan 10, 2023Jan 10, 2023

    • graphIK

      Public
      A library for solving inverse kinematics with graphical models and distance geometry.
      Python
      •
      MIT License
      •25•0•0•0•Updated Oct 3, 2022Oct 3, 2022

    • Optimization

      Public
      A set of lightweight header-only template functions implementing commonly-used optimization methods on Riemannian manifolds and convex spaces.
      C++
      •
      GNU Lesser General Public License v3.0
      •20•0•0•0•Updated Jul 29, 2022Jul 29, 2022

    • SE-Sync

      Public
      An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.
      Jupyter Notebook
      •
      GNU Lesser General Public License v3.0
      •93•0•0•0•Updated Jul 29, 2022Jul 29, 2022

    • Persistence-Filter

      Public
      A C++ implementation (with Python bindings) of the Persistence Filter.
      Jupyter Notebook
      •
      GNU Lesser General Public License v3.0
      •8•0•0•0•Updated Jul 19, 2022Jul 19, 2022

    • Preconditioners

      Public
      A set of useful algebraic preconditioners for iterative numerical linear-algebraic methods.
      C++
      •
      GNU Lesser General Public License v3.0
      •5•0•0•0•Updated Jul 18, 2022Jul 18, 2022

    • mac

      Public
      Maximizing algebraic connectivity for graph sparsification
      Python
      •
      MIT License
      •9•0•0•0•Updated Jul 12, 2022Jul 12, 2022

    • bingham-rotation-learning

      Public
      A Smooth Representation of SO(3) for Deep Rotation Learning with Uncertainty.
      Jupyter Notebook
      •22•0•0•0•Updated Dec 13, 2021Dec 13, 2021

    • dpgo

      Public
      Distributed Pose Graph Optimization
      C++
      •
      MIT License
      •34•0•0•0•Updated Oct 27, 2021Oct 27, 2021

    • dpgo_ros

      Public
      ROS wrapper for distributed pose graph optimization
      C++
      •
      MIT License
      •13•0•0•0•Updated Sep 28, 2021Sep 28, 2021

    • manopt

      Public
      Manopt, a Matlab toolbox for optimization on manifolds
      MATLAB
      •104•0•0•0•Updated Mar 14, 2021Mar 14, 2021