GTSAM 4.3 ships with legged navigation, CUDA-accelerated factor graphs and continuous-time trajectory estimation
fdellaert · x · 2026-09-24
- Frank Dellaert released GTSAM 4.3, the C++ factor-graph SLAM library, with an updated gtsam.org including papers, notebooks and contributor credits.
- Highlights: expanded inertial and legged navigation (new IMU preintegration and invariant-filter formulations), experimental CUDA optimization for factor graphs and bundle adjustment, continuous-time Gaussian-process trajectory estimation with the University of Toronto, constrained optimization (linear/QP/QCQP), and certifiable estimation built on the QCQP framework with Northeastern and CMU collaborators, plus GNSS improvements.
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