We are pleased to release GTSAM 3.1.0. Notable changes since the 3.0.0 release include:

• Smart Projection Factors which exploit the underlying structure of the optimization problem to enhance efficiency and robustness to degenerate configurations. Presented at ICRA: Eliminating Conditionally Independent Sets in Factor Graphs: A Unifying Perspective based on Smart Factors
• Linear Approximation for Graph Optimization (LAGO), published in IJRR: A Fast and Accurate Approximation for Planar Pose Graph Optimization
• Matlab toolbox: Substantial speedup when plotting 2D poses.

Information and DownloadDetailed Changelist

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