This page is about the people and research behind GTSAM.  If you're looking to download GTSAM, click here for the download page.

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. The most important underlying principles are described in the following three journal papers:

• Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing, Frank Dellaert & Michael Kaess, International Journal of Robotics Research, 2006
• iSAM: Incremental Smoothing and Mapping,  Michael Kaess, Ananth Ranganathan, and Frank Dellaert , IEEE Transactions on Robotics, 2008
• iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree,  Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John Leonard, and Frank Dellaert, International Journal of Robotics Research, 2012

The incremental Dog-Leg implementation in GTSAM is described in

• Rosen DM, Kaess M, Leonard J.  An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation, pp. 1262-1269., ICRA 2012.

and the subgraph-preconditioned conjugate gradient descent method is described in

• Dellaert F, Carlson J, Ila V, Ni K, Thorpe CE..  Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM. IROS 2010

People

Frank Dellaert	Richard Roberts	Alex Cunningham	Chris Beall	Michael Kaess
Stephen Williams	Kai Ni	Duy-Nguyen Ta	Manohar Paluri	Yong-Dian Jian

Related Papers

iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree

Kaess M, Johannsson H, Roberts R, Ila V, Leonard J, Dellaert F

International Journal of Robotics Research (IJRR)

2012

iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree, Kaess, Michael, Johannsson Hordur, Roberts Richard, Ila Viorela, Leonard John, and Dellaert Frank , International Journal of Robotics Research (IJRR), (2012)

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An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation

Rosen DM, Kaess M, Leonard J

ICRA

2012

An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation, Rosen, D. M., Kaess Michael, and Leonard John , ICRA, St. Paul, MN, p.1262-1269, (2012) Abstract

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Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment

Jian Y-D, Balcan D, Dellaert F

International Conference on Computer Vision (ICCV)

2011

Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment, Jian, Yong-Dian, Balcan Doru, and Dellaert Frank , International Conference on Computer Vision (ICCV), 11/2012, (2011)

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iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering

Kaess M, Johannsson H, Roberts R, Ila V, Leonard J, Dellaert F

ICRA

2011

iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering, Kaess, Michael, Johannsson Hordur, Roberts Richard, Ila Viorela, Leonard John, and Dellaert Frank , ICRA, (2011)

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The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping

Kaess M, Ila V, Roberts R, Dellaert F

2010

The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping, Kaess, Michael, Ila Viorela, Roberts Richard, and Dellaert Frank , Jan, Number MIT-CSAIL-TR-2010-021, (2010)

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The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping

Kaess M, Ila V, Roberts R, Dellaert F

WAFR

2010

The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping, Kaess, Michael, Ila Viorela, Roberts Richard, and Dellaert Frank , WAFR, Dec, (2010)

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Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM

Dellaert F, Carlson J, Ila V, Ni K, Thorpe CE

IROS

2010

Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM, Dellaert, Frank, Carlson Justin, Ila Viorela, Ni Kai, and Thorpe Charles E. , IROS, (2010)

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iSAM: Incremental Smoothing and Mapping

Kaess M, Ranganathan A, Dellaert F

Transactions on Robotics (TRO)

2008

iSAM: Incremental Smoothing and Mapping, Kaess, Michael, Ranganathan Ananth, and Dellaert Frank , Transactions on Robotics (TRO), (2008)

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iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association

Kaess M, Ranganathan A, Dellaert F

ICRA

2007

iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association, Kaess, Michael, Ranganathan Ananth, and Dellaert Frank , ICRA, April, Rome; Italy, (2007)

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Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing

Dellaert F, Kaess M

International lJournal of Robotics Research (IJRR)

2006

Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing, Dellaert, Frank, and Kaess Michael , International lJournal of Robotics Research (IJRR), Volume 25, Number 12, p.1181, (2006)

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Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing

Dellaert F

Robotics: Science and Systems (RSS)

2005

Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing, Dellaert, Frank , Robotics: Science and Systems (RSS) , MIT, Boston, (2005)

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