Factor graph

Factor Graphs and GTSAM: A Hands-on Introduction

Frank Dellaert

Citations: 537 • 2012

A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors

Tong Qin, Jie Pan, Shaozu Cao, Shaojie Shen

Citations: 296 • 2019

DDF-SAM: Fully distributed SLAM using Constrained Factor Graphs

Alexander Cunningham, Manohar Paluri, Frank Dellaert

Citations: 157 • 2010

Approaching the Symbol Grounding Problem with Probabilistic Graphical Models

Stefanie Tellex, Thomas Kollar, Steven Dickerson, Matthew R. Walter, Ashis Gopal Banerjee, Seth Teller, Nicholas Roy

Citations: 147 • 2011

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry

David Wisth, Marco Camurri, Sandipan Das, Maurice Fallon

Citations: 141 • 2021

Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs

Jing Dong, Mustafa Mukadam, Frank Dellaert, Byron Boots

Citations: 115 • 2016

Robust Legged Robot State Estimation Using Factor Graph Optimization

Citations: 81 • 2019

Robust legged robot state estimation using factor graph optimization

Citations: 78 • 2019

Introduction to Probabilistic Graphical Models

Franz Pernkopf, Robert Peharz, Sebastian Tschiatschek

Citations: 68 • 2014

Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs

Han-Pang Chiu, Xun Zhou, Luca Carlone, Frank Dellaert, Supun Samarasekera, Rakesh Kumar

Citations: 62 • 2014

3D ego-Motion Estimation Using low-Cost mmWave Radars via Radar Velocity Factor for Pose-Graph SLAM

Yeong Sang Park, Young-Sik Shin, Joo-Wan Kim, Ayoung Kim

Citations: 61 • 2021

Scalable Data Association for Extended Object Tracking

Florian Meyer, Moe Z. Win

Citations: 56 • 2020

Localization with Sliding Window Factor Graphs on Third-Party Maps for Automated Driving

Daniel Wilbers, Christian Merfels, Cyrill Stachniss

Citations: 54 • 2019

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs

Ross Hartley, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice

Citations: 54 • 2018

Switchable constraints vs. max-mixture models vs. RRR - A comparison of three approaches to robust pose graph SLAM

Niko Sünderhauf, Peter Protzel

Citations: 54 • 2013

Robust optimization of factor graphs by using condensed measurements

Giorgio Grisetti, Rainer Kümmerle, Kai Ni

Citations: 47 • 2012

A multi-sensor fusion positioning approach for indoor mobile robot using factor graph

Liyang Zhang, Xingyu Wu, Rui Gao, Lei Pan, Qian Zhang

Citations: 46 • 2023

Tightly-Coupled Single-Anchor Ultra-wideband-Aided Monocular Visual Odometry System

Thien Hoang Nguyen, Thien‐Minh Nguyen, Lihua Xie

Citations: 45 • 2020

Degeneracy-Aware Factors with Applications to Underwater SLAM

Akshay Hinduja, Bing-Jui Ho, Michael Kaess

Citations: 44 • 2019

Robust incremental online inference over sparse factor graphs: Beyond the Gaussian case

David M. Rosen, Michael Kaess, John J. Leonard

Citations: 43 • 2013