Search Results for "slam"

Theseus is a library for differentiable nonlinear optimization that lets you embed solvers like Gauss-Newton or Levenberg–Marquardt inside PyTorch models. Problems are expressed as factor graphs with variables on manifolds (e.g., SE(3), SO(3)), so classical robotics and vision tasks—bundle adjustment, pose graph optimization, hand–eye calibration—can be written succinctly and solved efficiently. Because solves are differentiable, you can backpropagate through optimization to learn cost...

The libRSF is an open source C++ library that provides several components that are required to estimate the state of a (robotic) system based on probabilistic methods. By applying the factor graph concept, well known from Graph SLAM, libRSF provides a robust solution for many sensor fusion problems. The general idea of factor graphs is to describe the state estimation problem as a graph of nodes (the state variables) that are connected by factors (measurements). The resulting graph optimization problem can be solved by applying non-linear least squares optimization.