# borglab/gtsam

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.

Repository: https://github.com/borglab/gtsam
Canonical: https://ross.abutalabs.com/products/gtsam
Homepage: https://borglab.github.io/gtsam/
Language: Jupyter Notebook
License: NOASSERTION
License Family: other
Topics: estimation, perception, robotics, sensorfusion
Last push: 2026-08-26T15:04:13+00:00

## Health v2 (maintenance only)
Score: 92/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 99, release rhythm 78, longevity 100
- inputs: {"age_days": 3446, "days_push": 7, "days_rel": 64, "gap_med": 62, "n_releases_24m": 2}
- flags: no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 3656, forks 984 (observed 2026-08-28T04:08:13.179252+00:00)

## What it is
GTSAM is a C++ library implementing smoothing and mapping (SAM) for robotics and vision using factor graphs and Bayes networks as its core computing paradigm. It includes Python and MATLAB wrappers and supports GPU-accelerated linear solvers via CUDA.

## Use cases
- estimate robot trajectories from IMU and GPS sensor data
- build SLAM systems with factor graph optimization
- fuse multi-sensor measurements for state estimation
- solve visual SLAM and structure-from-motion problems
- perform incremental smoothing for real-time navigation
- prototype estimation algorithms in Python or MATLAB

## When to choose
- you need factor-graph-based state estimation or SLAM in C++ or Python
- you want mature, well-tested algorithms for smoothing and mapping in robotics
- you need Bayes network inference rather than raw sparse matrix solvers

## When to avoid
- you need a general-purpose sparse linear algebra library rather than estimation
- you require a stable API on the develop branch, which is pre-4.3 with breaking changes
- you need Windows Python wheels, which are not published

## Facets
- artifact type: library
- maturity: active
- function: machine-learning, simulation, math, sdk
- domain: robotics, computer-vision, autonomous-vehicles
- platform: cpp, python, windows, cross-platform
- tags: factor-graphs, bayes-networks, slam, sensor-fusion, state-estimation, smoothing-and-mapping, matlab-wrapper, cuda, algorithms, linux, macos

## Member repositories
- borglab/gtsam (main) score 92

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:08:13.179252+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-29T18:31:37.649008+00:00, confidence not recorded.
  - readme: https://github.com/borglab/gtsam (fetched 2026-08-28T04:08:13.179252+00:00, sha 5cae4328618e)
  - homepage: https://borglab.github.io/gtsam/ (fetched 2026-08-29T09:25:45.143865+00:00, sha 804b9068b314)
- Data as of 2026-08-30T08:39:29.467469+00:00.