Olaya will give a practitioner’s introduction to GTSAM, a staple in vision-based SLAM.
SPEAKER: Olaya Álvarez-Tuñón
ABSTRACT: This talk provides an introduction to GTSAM (Georgia Tech Smoothing And Mapping), a library for solving nonlinear estimation problems using factor graph optimization. We explain the basic ideas behind factor graphs and show how GTSAM represents unknown quantities, measurements, and uncertainty in a unified framework. Through simple examples, the talk illustrates how GTSAM can be used to estimate system states from noisy data and how incremental solvers enable efficient updates as new information becomes available. The presentation focuses on practical usage and design considerations when applying GTSAM to real-world estimation problems.