factor-graph 开源项目推荐（58 个）

StevenCui /VIO-Doc

主流VIO论文推导及代码解析

dongjing3309 /minisam

A general and flexible factor graph non-linear least square optimization framework

koide3 /gtsam_points

A collection of GTSAM factors and optimizers for point cloud SLAM

leggedrobotics /graph_msf

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

mbforbes /py-factorgraph

Factor graphs and loopy belief propagation implemented in Python

krashkov /Belief-Propagation

Overview and implementation of Belief Propagation and Loopy Belief Propagation algorithms: sum-product, max-product, max-sum

MarineRoboticsGroup /dcsam

Factored inference for discrete-continuous smoothing and mapping.

biaslab /ForneyLab.jl

Julia package for automatically generating Bayesian inference algorithms through message passing on Forney-style factor graphs.

wvu-navLab /RobustGNSS

Robust GNSS Processing With Factor Graphs

shaolinbit /minisam_lib

Lightweighted graph optimization (Factor graph) library.

lppllppl920 /SAGE-SLAM

Official repo for the paper "SAGE: SLAM with Appearance and Geometry Prior for Endoscopy" (ICRA 2022)

rsasaki0109 /gnss_gpu

在城市峡谷中击败RTKLIB：GPU粒子滤波GNSS定位，利用光线追踪NLOS抑制和FGO

zhaoqj23 /FE-GUT

A novel architecture in which the Factor Graph Optimization (FGO) is hybrid with the Extended Kalman Filter (EKF) for tightly coupled GNSS/UWB integration with online Temporal calibration (FE-GUT).

danbar /fglib

factor graph library

wvu-navLab /ICE

Software Release for "Incremental Covariance Estimation for Robust Localization"

wvu-navLab /PPP-BayesTree

Code release for "Evaluation of Precise Point Positioning Convergence with an Incremental Graph Optimizer".

jashshah999 /vggt-factor-refinement

Factor graph refinement of VGGT feed-forward 3D reconstruction

yishaiSilver /aruco-slam

Using visual markers, EKF, Factor Graphs, etc. to localize a handheld camera.

thadikari /ldpc_decoders

Belief propagation with sparse matrices (scipy.sparse) in Python for LDPC codes. Includes NumPy implementation of message passing (min-sum and sum-product) and a few other decoders.

andreacasalino /Easy-Factor-Graph

General purpose C++ library for managing discrete factor graphs