An Introduction to Factor Graphs

This recitation provided an overview of a Factor Graph as used in modern SLAM frameworks. It drew on the following resources:

• Factor Graphs for Navigation Applications: A Tutorial
• Factor Graphs for Robot Perception
• An Introduction to Factor Graphs
  • In Presentation Form
• Factor Graphs and GTSAM: A Hands-on Introduction
• Emma Benjaminson’s Blog on Factor Graphs

For learning more about factor graphs in a hands-on way, I highly recommend checking out GTSAM (which has a Python API)