Factor graphs for Sensor Fusion in Robotics. GTSAM is a BSD-licensed C++ library for smoothing and mapping in robotics and computer vision, including SLAM (Simultaneous Localization and Mapping), VO (Visual Odometry), and SFM (Structure from Motion). It uses factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices to optimize for the most probable configuration or an optimal plan. Coupled with a capable sensor front-end (not provided here), GTSAM powers many impressive autonomous systems in both academia and industry. The current stable release is 4.2. The main development line is now in pre-4.3 mode, and recent alpha releases follow that track. Aug 12, 2026 FAST-Sync: A Fast Start for Group Synchronization on Any Matrix Lie Group Published in IEEE Robotics and Automation Letters, vol. 11, no. 9, pp. 10377–10384, September 2026. DOI: 10.1109/LRA.2026.3710327 . FAST-Sync: A Fast Start for Group Synchronization on Any Matrix Lie Group Published in IEEE Robotics and Automation Letters, vol. 11, no. 9, pp. 10377–10384, September 2026. DOI: 10.1109/LRA.2026.3710327 . Aug 4, 2026 3D Gaussian Splatting meets Factor Graph SLAM Author: Jash Shah 3D Gaussian Splatting meets Factor Graph SLAM Author: Jash Shah Jun 24, 2026 Bringing Geometric Foundation Models to SLAM: VGGT-SLAM and SL(4) Factor Graph Optimization Author: Dominic Maggio Bringing Geometric Foundation Models to SLAM: VGGT-SLAM and SL(4) Factor Graph Optimization Author: Dominic Maggio Jun 10, 2026 Toward Centimeter-Level Positioning with GTSAM: Double-Difference Factors for RTK GNSS Author: Kosuke Inoue , independent researcher Toward Centimeter-Level Positioning with GTSAM: Double-Difference Factors for RTK GNSS Author: Kosuke Inoue , independent researcher Jun 5, 2026 Certifiable Optimization, Part 3: Global Solvers for 3D Vision Author: Frank Dellaert Certifiable Optimization, Part 3: Global Solvers for 3D Vision Author: Frank Dellaert Jun 3, 2026 Certifiable Optimization, Part 2: Certifiable Factor Graph Optimization Author: David M. Rosen Certifiable Optimization, Part 2: Certifiable Factor Graph Optimization Author: David M. Rosen Jun 1, 2026 Certifiable Optimization, Part 1: Exploiting Chordal Sparsity with Bayes Trees Author: Frank Dellaert Certifiable Optimization, Part 1: Exploiting Chordal Sparsity with Bayes Trees Author: Frank Dellaert May 26, 2026 Speaking of Legged Robots Author: Frank Dellaert Speaking of Legged Robots Author: Frank Dellaert May 20, 2026 Smoothing Out the Edges: Continuous-Time State Estimation Tools in GTSAM via Gaussian Processes Authors: Connor Holmes , Sven Lilge , Zi Cong Guo , Frank Dellaert , and Timothy D. Barfoot Smoothing Out the Edges: Continuous-Time State Estimation Tools in GTSAM via Gaussian Processes Authors: Connor Holmes , Sven Lilge , Zi Cong Guo , Frank Dellaert , and Timothy D. Barfoot May 13, 2026 Quadratic Programs and QCQPs in GTSAM Author: Frank Dellaert and Yetong Zhang Quadratic Programs and QCQPs in GTSAM Author: Frank Dellaert and Yetong Zhang May 6, 2026 The Manifold Kalman Filter Hierarchy, Part 4: Awesome Equivariant Filters! Authors : Rohan Bansal and Frank Dellaert GTSAM Contributors : Jennifer Oum, Darshan Rajasekaran (ABC) and Rohan Bansal (EqVIO). EqVIO paper authors : Pieter van Goor and Robert Mahony . ABC-EqF paper authors : Alessandro Fornasier , Yonhon Ng, Christian Brommer, Christoph Böhm, Robert Mahony , and Stephan Weiss . The Manifold Kalman Filter Hierarchy, Part 4: Awesome Equivariant Filters! Authors : Rohan Bansal and Frank Dellaert GTSAM Contributors : Jennifer Oum, Darshan Rajasekaran (ABC) and Rohan Bansal (EqVIO). EqVIO paper authors : Pieter van Goor and Robert Mahony . ABC-EqF paper authors : Alessandro Fornasier , Yonhon Ng, Christian Brommer, Christoph Böhm, Robert Mahony , and Stephan Weiss . Apr 28, 2026 The Manifold Kalman Filter Hierarchy, Part 3: Equivariant Filters Authors : Frank Dellaert and Rohan Bansal . GTSAM Contributors : Jennifer Oum, Darshan Rajasekaran, Alessandro Fornasier (on whose code our examples are based). The Manifold Kalman Filter Hierarchy, Part 3: Equivariant Filters Authors : Frank Dellaert and Rohan Bansal . GTSAM Contributors : Jennifer Oum, Darshan Rajasekaran, Alessandro Fornasier (on whose code our examples are based). Apr 21, 2026 Factor Graphs and "World Models" Author: Frank Dellaert Factor Graphs and "World Models" Author: Frank Dellaert Apr 13, 2026 CustomFactor in Python, C++, and MATLAB Authors: Frank Dellaert CustomFactor in Python, C++, and MATLAB Authors: Frank Dellaert Apr 6, 2026 Incremental Fast Covariance with iSAM2 Authors: Frank Dellaert

Incremental Fast Covariance with iSAM2 Authors: Frank Dellaert Mar 29, 2026 Fast Covariance Recovery with Bayes Trees Authors: Frank Dellaert Fast Covariance Recovery with Bayes Trees Authors: Frank Dellaert Mar 17, 2026 The Manifold Kalman Filter Hierarchy, Part 2: Legged State Estimation Authors: Frank Dellaert , Varun Agrawal The Manifold Kalman Filter Hierarchy, Part 2: Legged State Estimation Authors: Frank Dellaert , Varun Agrawal Mar 9, 2026 The Manifold Kalman Filter Hierarchy, Part 1 Authors: Frank Dellaert , Scott Baker The Manifold Kalman Filter Hierarchy, Part 1 Authors: Frank Dellaert , Scott Baker Feb 4, 2023 LOST in Triangulation LOST in Triangulation Feb 23, 2021 Reducing the uncertainty about the uncertainties, part 3: Adjoints and covariances Reducing the uncertainty about the uncertainties, part 3: Adjoints and covariances Feb 23, 2021 Reducing the uncertainty about the uncertainties, part 2: Frames and manifolds Reducing the uncertainty about the uncertainties, part 2: Frames and manifolds Feb 23, 2021 Reducing the uncertainty about the uncertainties, part 1: Linear and nonlinear Reducing the uncertainty about the uncertainties, part 1: Linear and nonlinear Aug 30, 2020 Mount Rainier's Eigenvectors Frank Dellaert , August 30, 2020 Mount Rainier's Eigenvectors Frank Dellaert , August 30, 2020 Jul 16, 2020 Releasing GTSAM 4.0.3 Author: Fan Jiang Releasing GTSAM 4.0.3 Author: Fan Jiang Jun 28, 2020 Geometry and Variable Naming Conventions Author: Samarth Brahmbhatt Geometry and Variable Naming Conventions Author: Samarth Brahmbhatt Jun 1, 2020 What are Factor Graphs? By Frank Dellaert , @fdellaert on Twitter What are Factor Graphs? By Frank Dellaert , @fdellaert on Twitter Nov 7, 2019 LQR Control Using Factor Graphs LQR Control Using Factor Graphs Sep 20, 2019 Look Ma, No RANSAC Author: Varun Agrawal Website: varunagrawal.github.io Look Ma, No RANSAC Author: Varun Agrawal Website: varunagrawal.github.io Sep 18, 2019 Legged Robot Factors Part I Author: Ross Hartley email: m.ross.hartley@gmail.com Legged Robot Factors Part I Author: Ross Hartley email: m.ross.hartley@gmail.com May 20, 2019 Launching gtsam.org Today we launched GTSAM’s new web presence, gtsam.org . The site is hosted by Github Pages, and is generated via Jekyll , a simple static website generator. Launching gtsam.org Today we launched GTSAM’s new web presence, gtsam.org . The site is hosted by Github Pages, and is generated via Jekyll , a simple static website generator. May 18, 2019 Moving to Github! GTSAM is now live on Github . Github is doing so many things right, in addition to being the go-to platform for open source: it has free continuous integration for open source projects, it supports building great web-sites, and it is itself supporting many great efforts such as VS-code and Atom. While we initially launched GTSAM on Bitbucket because of its unlimited private repos, we felt we could hold out no longer. Github, here we come :-) Moving to Github! GTSAM is now live on Github . Github is doing so many things right, in addition to being the go-to platform for open source: it has free continuous integration for open source projects, it supports building great web-sites, and it is itself supporting many great efforts such as VS-code and Atom. While we initially launched GTSAM on Bitbucket because of its unlimited private repos, we felt we could hold out no longer. Github, here we come :-) subscribe via RSS