We are pleased to announce GTSAM 2.1.0!  Notable changes from 2.0.0 include:

• Comprehensive MATLAB wrapper:  rapid application-building or prototyping, easy access to numerical data for visualization, and access to GTSAM via the interactive command line.
• Hands-on introduction and tutorial on smoothing-and-mapping and factor graphs.
• Sparse Preconditioned Conjugate Gradient Optimization for graphs that are too densely-connected for direct solution methods.
• API refinements and performance improvements.
• Full support for Windows / MSVC

Information and DownloadDetailed Changelist

We welcome your feedback and questions at gtsam@lists.gatech.edu.