There are 6 repositories under factor-graph topic.
A general and flexible factor graph non-linear least square optimization framework
A collection of GTSAM factors and optimizers for point cloud SLAM
A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.
Factor graphs and loopy belief propagation implemented in Python
Overview and implementation of Belief Propagation and Loopy Belief Propagation algorithms: sum-product, max-product, max-sum
Factored inference for discrete-continuous smoothing and mapping.
Julia package for automatically generating Bayesian inference algorithms through message passing on Forney-style factor graphs.
Robust GNSS Processing With Factor Graphs
Lightweighted graph optimization (Factor graph) library.
Official repo for the paper "SAGE: SLAM with Appearance and Geometry Prior for Endoscopy" (ICRA 2022)
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).
Software Release for "Incremental Covariance Estimation for Robust Localization"
Code release for "Evaluation of Precise Point Positioning Convergence with an Incremental Graph Optimizer".
General purpose C++ library for managing discrete factor graphs
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.
The algorithm solves the DC state estimation problem in electric power systems using the Gaussian belief propagation over factor graphs.
The FactorGraph package provides the set of different functions to perform inference over the factor graph with continuous or discrete random variables using the belief propagation algorithm.
Factor graph visualization with d3.js
Software release for "Enabling Robust State Estimation through Measurement Error Covariance Adaptation"
Using visual markers, Extended Kalman Filters, Factor Graphs, etc. to localize a handheld camera.
General factor graph solver in rust
Source code and dataset for TKDE 2019 paper “Trust Relationship Prediction in Alibaba E-Commerce Platform”
Gaussian belief propagation solver for noisy linear systems with real coefficients and variables.
Offline Simultaneous Localization and Mapping using GTSAM
Developed and implemented 2D and 3D Pose Graph SLAM using the GTSAM library and Gauss Newton Solver on the Intel and Parking Garage g2o datasets respectively
Implementation of the Belief Propagation Side Channel Attack
Experimental platform to achieve fused environment perception using different modalities of sensors
Pratice and example to solve the pose graph SLAM problem using GTSAM
A Probabilistic Graphical approach to detect different types of shilling attacks on Recommender Systems.
Factor potentials for factor graphs, Bayesian networks, and Markov random fields
A short python script to visualize factor graphs passed in as matrix inputs.
[MICCAI 2025] Official Implementation of "6D Object Pose Tracking for Orthopedic Surgical Training using Visual-Inertial Sensor Fusion"
Pure python implementation of minisam.