Tutorials

This is an updated version of the 2012 tech-report Factor Graphs and GTSAM: A Hands-on Introduction by Frank Dellaert. A more thorough introduction to the use of factor graphs in robotics is the 2017 article Factor graphs for robot perception by Frank Dellaert and Michael Kaess.

• Overview
  • Acknowledgements
• Factor Graphs
• Modeling Robot Motion
  • Modeling with Factor Graphs
  • Creating a Factor Graph
  • Factor Graphs versus Values
  • Non-linear Optimization in GTSAM
  • Full Posterior Inference
• Robot Localization
  • Unary Measurement Factors
  • Defining Custom Factors
  • Using Custom Factors
  • Full Posterior Inference
• PoseSLAM
  • Loop Closure Constraints
  • Using the MATLAB Interface
  • Reading and Optimizing Pose Graphs
  • PoseSLAM in 3D
• Landmark-based SLAM
  • Basics
  • Of Keys and Symbols
  • A Larger Example
  • A Real-World Example
• Structure from Motion
• iSAM: Incremental Smoothing and Mapping
• More Applications
  • Conjugate Gradient Optimization
  • Visual Odometry
  • Visual SLAM
  • Fixed-lag Smoothing and Filtering
  • Discrete Variables and HMMs
• C++ Examples
  • Kalman filter example
  • 2D SLAM example
  • 3D SLAM example
• Python Examples
• Matlab Examples