GTSAM 2.3.1 is a minor update from 2.3.0.  This release makes improvements to the IMU summary factors.  These factors allow the use of high-rate IMUs in smoothing by summarizing many IMU measurements into one, in a way that still permits efficient and accurate relinearization and estimation of biases, closely following the methods of Lupton and Sukkarieh in TRO 2012.  Specific changes include:

• IMU summary factors now use analytic derivatives for further speedup.
• Simplified IMU factor API - see ImuFactor and CombinedImuFactor, in the gtsam/navigation subdirectory.
• Example of using the new IMU factor with the KITTI dataset, using the GTSAM MATLAB toolbox, IMUKittiExampleGPS.m.
• Small fixes and API and build system improvements.

Information and DownloadDetailed Changelist

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