[robotics-worldwide] GTSAM 2.0
dellaert at gmail.com
Tue Oct 9 14:00:08 PDT 2012
We are pleased to announce GTSAM 2, a high-performance, easy-to-use, and modern C++ library for SLAM, SAM, bundle adjustment, and general nonlinar optimization. It comes with a comprehensive object-oriented MATLAB wrapper (pre-compiled for Mac, Windows, and Linux), and Hands-on introduction and tutorial on smoothing-and-mapping and factor graphs.
GTSAM 1.0beta was released during last year's IROS, and since then we have made significant changes to the library, based on your feedback:
Changes in 2.0.0 from 1.0-beta
• Large runtime speedup and less memory usage
• Greatly simplified and cleaner API
• New discrete optimization framework
• Dogleg nonlinear optimization (in addition to Levenberg-Marquardt and Gauss-Newton algorithms)
• iSAM2 algorithm for incremental nonlinear estimation
• Incremental nonlinear Dogleg optimization using ISAM2
• CMake build system
• BSD License
GTSAM 2.1.0 Changes from 2.0.0
• Hands-on introduction and tutorial on smoothing-and-mapping and factor graphs.
• Comprehensive object-oriented MATLAB wrapper: rapid application-building or prototyping, easy access to internal numerical data, and access to GTSAM via the interactive MATLAB command line. Syntax and classes match the C++ API. A set of MATLAB examples is included in the matlab directory.
• Sparse Preconditioned Conjugate Gradient Optimization for graphs that are too densely-connected for direct solution methods.
• API refinements and minor performance improvements.
• Full support (editing and compiling) for Windows / Visual Studio using CMake-generated solution files.
GTSAM 2.2.0, changes from 2.1.0:
• Orders-of-magnitude speedup in computing single-variable marginals.
• Reverted to basic method for computing multiple-variable joint marginals due to occasional information duplication problem.
• Revamp of the GTSAM timing library - code instrumentation and bookkeeping to produce outlines for timing and profiling.
Frank Dellaert and the members of the BORG lab.
Center for Robotics and Intelligent Machines
Georgia Institute of Technology
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