GTSAM
An open-source C++ library based on factor graph optimization for robot sensor fusion and SLAM, supporting Kalman filtering and smoothing algorithms.
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Common sensor fusion methods include the Kalman filter, the extended Kalman filter, the particle filter, and methods based on factor graph optimization (such as GTSAM).
Factor graphs represent all historical observations and motion constraints as factor nodes in a graph, jointly solving for the optimal state trajectory through nonlinear least-squares optimization, with GTSAM and Ceres Solver being the most commonly used open-source libraries.
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Common sensor fusion methods include the Kalman filter, the extended Kalman filter, the particle filter, and methods based on factor graph optimization (such as GTSAM).
50%UnverifiedFactor graphs represent all historical observations and motion constraints as factor nodes in a graph, jointly solving for the optimal state trajectory through nonlinear least-squares optimization, with GTSAM and Ceres Solver being the most commonly used open-source libraries.
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