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Ceres Solver is a C++ library for numerical optimization, specializing in non-linear least squares and unconstrained optimization problems. It serves as a framework for automatic differentiation and robust curve fitting, providing tools to solve large-scale mathematical models. The library is distinguished by its bundle adjustment capabilities, which exploit sparse matrix structures to refine 3D scene points and camera parameters. It utilizes dual-number automatic differentiation to compute derivatives of cost functions, removing the need for manual Jacobian derivation. The project covers a
Drake is a robotics simulation framework and control system modeling tool used for designing, simulating, and verifying the dynamics of complex robotic systems. It functions as a multibody dynamics simulator and a mathematical optimization library, providing a suite of algorithms for trajectory optimization and the simulation of articulated robots. The framework is distinguished by its block-diagram system for composing dynamical subsystems and its ability to formulate and solve diverse mathematical programs, including linear, quadratic, and nonconvex nonlinear problems. It supports specializ
dlib is a C++ machine learning toolkit and data analysis framework. It provides a collection of algorithms and utilities for building predictive modeling applications and performing statistical analysis on large datasets within native C++ environments. The project functions as a binding library that wraps low-level C++ machine learning algorithms into high-level Python scripting interfaces. This allows for the integration of high-performance native implementations with Python for machine learning development. The framework covers the implementation of predictive models, the execution of mach
A library for differentiable nonlinear optimization
GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
The main features of borglab/gtsam are: Robotics Algorithms, SLAM and Mapping, Optimization Libraries, Robotics Libraries.
Open-source alternatives to borglab/gtsam include: ceres-solver/ceres-solver — Ceres Solver is a C++ library for numerical optimization, specializing in non-linear least squares and unconstrained… robotlocomotion/drake — Drake is a robotics simulation framework and control system modeling tool used for designing, simulating, and… davisking/dlib — dlib is a C++ machine learning toolkit and data analysis framework. It provides a collection of algorithms and… fields2cover/fields2cover — Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path… gisbi-kim/nano-pgo — Figure 1: Example Results Visualization. More examples can be found here. facebookresearch/theseus — A library for differentiable nonlinear optimization.