BORG Lab

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.

GTSAM website

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.

Wrapper generator for C++ projects with multiple language support

End-to-end SFM framework based on GTSAM

Evaluation of various Pre-integrated IMU Factors

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