Repositories list

• gtsam

  Public
  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 co…

  roboticsestimationperception+ 1

  roboticsestimationperceptionsensorfusion

  Jupyter Notebook

  •

  Other

  •918•3.4k•109•31•Updated Mar 31, 2026Mar 31, 2026

• gtsfm

  Public
  End-to-end SFM framework based on GTSAM

  structure-from-motion3d-reconstructionmultiview-geometry

  structure-from-motion3d-reconstructionmultiview-geometry

  Jupyter Notebook

  •

  Other

  •60•508•75•81•Updated Mar 30, 2026Mar 30, 2026

• gtsam.org

  Public
  GTSAM website

  HTML

  •

  MIT License

  •16•8•1•4•Updated Mar 29, 2026Mar 29, 2026

• GTDynamics

  Public
  Full kinodynamics constraints for arbitrary robot configurations with factor graphs.

  C++

  •

  BSD 2-Clause "Simplified" License

  •13•60•19•1•Updated Feb 24, 2026Feb 24, 2026

• CppUnitLite

  Public
  Our hosted version of CppUnitLite for infrastructure purposes.

  C++

  •0•2•0•0•Updated Feb 2, 2026Feb 2, 2026

• imuFactors

  Public
  Evaluation of various Pre-integrated IMU Factors

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •1•12•2•0•Updated Jan 22, 2026Jan 22, 2026

• docker-images

  Public
  Various useful docker images. Hosted on https://hub.docker.com/repositories/borglab

  Dockerfile

  •2•0•0•0•Updated Jan 12, 2026Jan 12, 2026

• wrap

  Public
  Wrapper generator for C++ projects with multiple language support

  C++

  •

  Other

  •13•37•7•0•Updated Dec 2, 2025Dec 2, 2025

• gpmp2

  Public
  Gaussian Process Motion Planner 2

  C++

  •

  Other

  •12•61•4•1•Updated Oct 19, 2025Oct 19, 2025

• gtsam-project-matlab

  Public template
  Project template using GTSAM + Matlab wrapping

  C++

  •

  BSD 2-Clause "Simplified" License

  •1•4•0•0•Updated Feb 22, 2024Feb 22, 2024

• gtsam-project-python

  Public template
  Project template using GTSAM + python wrapping

  CMake

  •

  BSD 2-Clause "Simplified" License

  •15•66•1•1•Updated Jan 17, 2024Jan 17, 2024

• gtsam-manylinux-build

  Public
  Shell

  •5•1•2•0•Updated Jan 15, 2024Jan 15, 2024

• borglab.github.io

  Public
  Georgia Tech Borglab website

  computer-visionrobotics

  computer-visionrobotics

  CSS

  •1.3k•0•0•1•Updated Oct 5, 2023Oct 5, 2023

• homebrew-core

  Public
  Homebrew tap for BorgLab software

  Ruby

  •0•0•1•0•Updated Sep 19, 2023Sep 19, 2023

• SwiftFusion

  Public
  Swift

  •

  Apache License 2.0

  •13•118•39•4•Updated Dec 18, 2022Dec 18, 2022

• gtsam-packaging

  Public archive
  Separate repo to facilitate building Linux packages

  Shell

  •2•4•3•0•Updated Dec 14, 2022Dec 14, 2022

• wrap-project-python

  Public template
  Template project for wrapping c++ with the borglab/wrap utility. No GTSAM dependence here.

  CMake

  •

  BSD 2-Clause "Simplified" License

  •1•0•0•0•Updated Dec 27, 2021Dec 27, 2021

• gtdynamics-manylinux-build

  Public
  Shell

  •0•1•0•0•Updated Mar 20, 2021Mar 20, 2021