Overview¶
The NonlinearISAM class wraps the incremental factorization version of iSAM Kaess et al., 2008. It is largely superseded by iSAM2 but it is a simpler class, with less bells and whistles, that might be easier to debug. For background, also see the more recent booklet by Dellaert & Kaess (2017).
- Kaess, M., Ranganathan, A., & Dellaert, F. (2008). iSAM: Incremental Smoothing and Mapping. IEEE Transactions on Robotics, 24(6), 1365–1378. 10.1109/tro.2008.2006706
- Dellaert, F., & Kaess, M. (2017). Factor Graphs for Robot Perception. Foundations and Trends in Robotics, 6(1–2), 1–139. 10.1561/2300000043