Basics of factor graphs

Introduction to factor graphs and how they are the next generation of mapping and navigation software.

Non-Gaussian Inference

This 1D example shows how multi-modal measurement data induces non-Gaussian solutions. Graph-based variable initialization is also demonstrated.

Insufficient Data (e.g. Range-only)

This 2D example shows how a singular (i.e. underdetermined) system produces non-Gaussian behavior. Based on range-only measurement example.

Leveraging (Contradictory) Prior Data

Introduction to solving a factor graph when prior information is contradictory.

Marine Example

Marine operations in harbor and populated river environments will see increased autonomy with major benefits for safety and efficacy, but the navigational environment poses a number of vital challenges.