GTSAM

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.

Recent Tweets

Posts

• Mar 9, 2026

  The Manifold Kalman Filter Hierarchy, Part 1

  Authors: Frank Dellaert, Scott Baker

• Feb 4, 2023

  LOST in Triangulation

• Feb 23, 2021

  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

• Feb 23, 2021

  Reducing the uncertainty about the uncertainties, part 1: Linear and nonlinear

• Aug 30, 2020

  Mount Rainier's Eigenvectors

  Frank Dellaert, August 30, 2020

• Jul 16, 2020

  Releasing GTSAM 4.0.3

  Author: Fan Jiang

• Jun 28, 2020

  Geometry and Variable Naming Conventions

  Author: Samarth Brahmbhatt

• Jun 1, 2020

  What are Factor Graphs?

  By Frank Dellaert, @fdellaert on Twitter

• Nov 7, 2019

  LQR Control Using Factor Graphs

• Sep 20, 2019

  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

• 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.

• 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 :-)

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