factor-graph

Factor graphs and loopy belief propagation implemented in Python

GPU particle-filter GNSS positioning for the urban canyon: ray-traced NLOS rejection & FGO

factor graph library

Factor graph refinement of VGGT feed-forward 3D reconstruction

Using visual markers, EKF, Factor Graphs, etc. to localize a handheld camera.

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.

Gaussian Splatting meets Factor Graph SLAM — iSAM2 pose optimization with differentiable rendering factors

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

[MICCAI 2025] Official Implementation of "6D Object Pose Tracking for Orthopedic Surgical Training using Visual-Inertial Sensor Fusion"

Implementation of the Belief Propagation Side Channel Attack

Pratice and example to solve the pose graph SLAM problem using GTSAM

Pure python implementation of minisam.

A short python script to visualize factor graphs passed in as matrix inputs.

Master thesis

A CSP solver built with a Factor Graph framework. Variables and constraints are represented as nodes in a graph. It solves problems using Backtracking Search (with AC-3 and heuristics) and Variable Elimination for inference.

2-D robot localization using SE(2) factor graphs and robust MAP estimation.

Pose-graph SLAM back-end written from scratch: SE(2)/SE(3) Lie group Jacobians, sparse Levenberg-Marquardt with variable reordering, and robust kernels. Evaluated on standard public benchmark datasets.

Learn a Factor Graph, or Markov Random Field (MRF), from data/observations. I.e. do PGM parameter learning.

Monocular video to metric articulated world models, with explicit evidence layers and factor-graph diagnostics.

ROS 2 Humble indoor localization on a fixed 2D map using GTSAM, odometry, IMU, scan-to-map matching and loop closure