Examples

These interactive Python notebooks are organized by GTSAM module, matching the folders under python/gtsam/examples/. Choose a module below to explore its examples.

Notebooks with an button near the top can be opened in Colab, where you can run and edit them in your browser.

• Geometry
  • Simple Rotation
• Basis
  • CardinalSplineBasis: Cubic weights for linear control values
  • CumulativeSplineTrajectory: A smooth Pose2 example
  • FitBasis (Fourier + Chebyshev)
  • Pseudo-Spectral Chebyshev Trajectory Fitting
• Linear
  • LQR Example
• Discrete
  • Discrete Bayes Net Example
  • The Discrete Bayes Tree
  • A Discrete Motion Model
  • A Discrete Switching System
  • Hidden Markov Model Example
• Hybrid
  • Hybrid Inference
• Nonlinear
  • Custom Factor Sensor Fusion
  • Custom Factor Trajectory Localization
  • Dogleg vs Levenberg-Marquardt
  • Extended Kalman Filter
  • Elaborate EKF Example
  • Fixed-Lag Smoother Example
  • iLQR example
  • NonlinearEquality Example
• Constrained
  • Linear Programming with GTSAM
  • Quadratically Constrained QP with GTSAM
  • Quadratic Programming with GTSAM
• Certifiable
  • Certifiable Landmark SLAM on SE(2)
  • Certifiable Landmark SLAM on SE(3)
  • Certifiable localization in SE(3)
  • Certifiable Pose Graph Optimization on SE(2)
  • Certifiable Pose Graph Optimization on SE(3)
  • Certifiable Range-Aided SLAM on SE(2)
  • Certifiable Range-Aided SLAM on SE(3)
  • Certifiable Rotation Averaging on SO(2)
  • Certifiable Rotation Averaging on SO(3)
  • A certifiable Wahba problem on SO(3)
  • Pose2 ring SLAM with monolithic and chordal SDP relaxations
  • Pose3 ring SLAM with monolithic and chordal SDP relaxations
• Navigation
  • Differential GNSS Positioning
  • GNSS Velocity from Doppler
  • Equivariant Filter Bias
  • Gal3 Autonomous Surface Vessel IMU EKF
  • Gal3 IMU EKF Tutorial
  • Gal3 IMU EKF: NEES With vs. Without Reset
  • Continuous-Time Gaussian-Process Trajectory Estimation on SE(3) with a White Noise on Acceleration Prior
  • GPS Factor Example
  • NavState Autonomous Surface Vessel IMU EKF
  • NavState IMU EKF Tutorial
  • IMU factor covariance: NEES validation
  • Carrier-Phase GNSS: RTK and PPP-RTK
  • GNSS Single Point Positioning with Factor Graphs
• Structure from Motion
  • Camera Resectioning Example
  • Create SFM Example Data
  • Fisheye Camera SfM Example
  • Self-Calibration Example
  • SFM Example
  • Fast CPU bundle adjustment: Full and Schur
  • Stereo Visual Odometry with GTSAM
  • Stereo Visual Odometry Example (Large Dataset)
  • Visual ISAM Example
• SLAM
  • Example of using Bearing Range in 3D
  • EKF-SLAM
  • FAST-Sync for seven matrix Lie groups
  • Known landmark localization in SE(3)
  • Odometry Example
  • Simple Planar SLAM Example
  • Pose2 SLAM Example
  • Pose2 SLAM Stress Test
  • Pose2 SLAM Example with Subgraph Solver (SPCG)
  • Range SLAM with iSAM
  • Range SLAM with Batch Optimization
  • SL(4) SLAM with GTSAM