The Borg Lab

GTSAM 3.2.0 Release

We are pleased to release GTSAM 3.2.0. This is a maintenance release with no major API changes. Notable changes since the 3.1.0 release include:

  • Full support for Boost 1.56 across all tested platforms. Visual Studio 2013 is now supported with Boost 1.56 or higher.
  • Improved rotation Logmap accuracy in quaternion mode.
  • Improved support for the latest version of the Intel Math Kernel Library. CMake find scripts were updated to search additional installation paths.
  • Initialization approaches for 3D pose graphs (paper submitted to ICRA, more details soon.)
  • Lots of other small bugfixes and improvements

Information and Download

We welcome your feedback and questions at