From 93de9848e386447a6a7cade8875118852afdf139 Mon Sep 17 00:00:00 2001 From: Nithya Date: Wed, 9 Jun 2021 12:41:20 -0400 Subject: [PATCH 1/4] Added *.bib file --- README.md | 5 +++++ references.bib | 9 +++++++++ 2 files changed, 14 insertions(+) create mode 100644 references.bib diff --git a/README.md b/README.md index 60eff197a..a83b013c9 100644 --- a/README.md +++ b/README.md @@ -95,3 +95,8 @@ GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`L Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM. GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS.md). + +## GTSAM Citation + +Use the following to cite GTSAM: + diff --git a/references.bib b/references.bib new file mode 100644 index 000000000..52c00325e --- /dev/null +++ b/references.bib @@ -0,0 +1,9 @@ +@misc{gtsam, + author = {Borg Lab}, + title = {{GTSAM}}, + month = jul, + year = 2020, + doi = {}, + version = {4.0.3}, + url = {} + } \ No newline at end of file From 1c00d130f5a96616b9d8dc99ec27506e71a17cf3 Mon Sep 17 00:00:00 2001 From: Nithya Date: Fri, 11 Jun 2021 11:25:21 -0400 Subject: [PATCH 2/4] additional citations --- README.md | 3 --- references.bib | 23 +++++++++++++++++++---- 2 files changed, 19 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index a83b013c9..cb7b3d464 100644 --- a/README.md +++ b/README.md @@ -96,7 +96,4 @@ Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) fil GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS.md). -## GTSAM Citation - -Use the following to cite GTSAM: diff --git a/references.bib b/references.bib index 52c00325e..5468204cc 100644 --- a/references.bib +++ b/references.bib @@ -1,9 +1,24 @@ @misc{gtsam, - author = {Borg Lab}, + author = {{Borg Lab}}, title = {{GTSAM}}, month = jul, year = 2020, - doi = {}, version = {4.0.3}, - url = {} - } \ No newline at end of file + url = {https://github.com/borglab/gtsam} + } + +@article{imu-preintegration, + author = {{Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza}}, + title = {{IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation}}, + year = 2015 + +} + +@techreport{factorgraphs, + author = {Frank Dellaert}, + title = {{Factor Graphs and GTSAM: A Hands-On Introduction}}, + number = {GT-RIM-CP\&R-2012-002}, + month = jul, + year = 2012 + +} \ No newline at end of file From a654cbcf45dd0861bf18191265178586e792669f Mon Sep 17 00:00:00 2001 From: Nithya Date: Thu, 11 Aug 2022 17:12:33 -0400 Subject: [PATCH 3/4] Added references to README --- README.md | 70 ++++++++++++++++++++++++++++++++++++++++++-------- references.bib | 24 ----------------- 2 files changed, 59 insertions(+), 35 deletions(-) delete mode 100644 references.bib diff --git a/README.md b/README.md index cb7b3d464..b06c5c220 100644 --- a/README.md +++ b/README.md @@ -2,9 +2,9 @@ **Important Note** -As of August 1 2020, the `develop` branch is officially in "Pre 4.1" mode, and features deprecated in 4.0 have been removed. Please use the last [4.0.3 release](https://github.com/borglab/gtsam/releases/tag/4.0.3) if you need those features. +As of Dec 2021, the `develop` branch is officially in "Pre 4.2" mode. A great new feature we will be adding in 4.2 is *hybrid inference* a la DCSLAM (Kevin Doherty et al) and we envision several API-breaking changes will happen in the discrete folder. -However, most are easily converted and can be tracked down (in 4.0.3) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4`. +In addition, features deprecated in 4.1 will be removed. Please use the last [4.1.1 release](https://github.com/borglab/gtsam/releases/tag/4.1.1) if you need those features. However, most (not all, unfortunately) are easily converted and can be tracked down (in 4.1.1) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42`. ## What is GTSAM? @@ -40,7 +40,7 @@ $ make install Prerequisites: -- [Boost](http://www.boost.org/users/download/) >= 1.58 (Ubuntu: `sudo apt-get install libboost-all-dev`) +- [Boost](http://www.boost.org/users/download/) >= 1.65 (Ubuntu: `sudo apt-get install libboost-all-dev`) - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`) - A modern compiler, i.e., at least gcc 4.7.3 on Linux. @@ -55,29 +55,79 @@ Optional prerequisites - used automatically if findable by CMake: GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect. -GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods. +GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods. -GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. +GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. ## Wrappers We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details. +## Citation + +If you are using GTSAM for academic work, please use the following citation: + +``` +@software{gtsam, + author = {Frank Dellaert and Richard Roberts and Varun Agrawal and Alex Cunningham and Chris Beall and Duy-Nguyen Ta and Fan Jiang and lucacarlone and nikai and Jose Luis Blanco-Claraco and Stephen Williams and ydjian and John Lambert and Andy Melim and Zhaoyang Lv and Akshay Krishnan and Jing Dong and Gerry Chen and Krunal Chande and balderdash-devil and DiffDecisionTrees and Sungtae An and mpaluri and Ellon Paiva Mendes and Mike Bosse and Akash Patel and Ayush Baid and Paul Furgale and matthewbroadwaynavenio and roderick-koehle}, + title = {borglab/gtsam}, + month = may, + year = 2022, + publisher = {Zenodo}, + version = {4.2a7}, + doi = {10.5281/zenodo.5794541}, + url = {https://doi.org/10.5281/zenodo.5794541} +} +``` + +You can also get the latest citation available from Zenodo below: + +[![DOI](https://zenodo.org/badge/86362856.svg)](https://doi.org/10.5281/zenodo.5794541) + +Specific formats are available in the bottom-right corner of the Zenodo page. + +Citation for IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation: +``` +@book{imu_preintegration, + author={Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza}, + title={IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation}, + year={2015} +} + + + +``` + + +Citation for Factor Graphs for Robot Perception: +``` +@book{factor_graphs_for_robot_perception, + author={Frank Dellaert and Michael Kaess}, + year={2017}, + title={Factor Graphs for Robot Perception}, + publisher={Foundations and Trends in Robotics, Vol. 6}, + url={http://www.cs.cmu.edu/~kaess/pub/Dellaert17fnt.pdf} +} + + +``` + + ## The Preintegrated IMU Factor GTSAM includes a state of the art IMU handling scheme based on -- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505) +- Todd Lupton and Salah Sukkarieh, _"Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions"_, TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505) Our implementation improves on this using integration on the manifold, as detailed in -- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) -- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf) +- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, _"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors"_, Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) +- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, _"IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation"_, Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf) If you are using the factor in academic work, please cite the publications above. -In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF. +In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag `GTSAM_TANGENT_PREINTEGRATION` to OFF. ## Additional Information @@ -95,5 +145,3 @@ GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`L Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM. GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS.md). - - diff --git a/references.bib b/references.bib deleted file mode 100644 index 5468204cc..000000000 --- a/references.bib +++ /dev/null @@ -1,24 +0,0 @@ -@misc{gtsam, - author = {{Borg Lab}}, - title = {{GTSAM}}, - month = jul, - year = 2020, - version = {4.0.3}, - url = {https://github.com/borglab/gtsam} - } - -@article{imu-preintegration, - author = {{Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza}}, - title = {{IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation}}, - year = 2015 - -} - -@techreport{factorgraphs, - author = {Frank Dellaert}, - title = {{Factor Graphs and GTSAM: A Hands-On Introduction}}, - number = {GT-RIM-CP\&R-2012-002}, - month = jul, - year = 2012 - -} \ No newline at end of file From c0363c45137dc79bccbdee5fad3219d5349c1e17 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 4 Jan 2023 07:03:44 -0500 Subject: [PATCH 4/4] clean up README --- README.md | 42 +++++++++++++++--------------------------- 1 file changed, 15 insertions(+), 27 deletions(-) diff --git a/README.md b/README.md index ff098948c..dbbba8c2b 100644 --- a/README.md +++ b/README.md @@ -70,38 +70,19 @@ If you are using GTSAM for academic work, please use the following citation: ```bibtex @software{gtsam, - author = {Frank Dellaert and Richard Roberts and Varun Agrawal and Alex Cunningham and Chris Beall and Duy-Nguyen Ta and Fan Jiang and lucacarlone and nikai and Jose Luis Blanco-Claraco and Stephen Williams and ydjian and John Lambert and Andy Melim and Zhaoyang Lv and Akshay Krishnan and Jing Dong and Gerry Chen and Krunal Chande and balderdash-devil and DiffDecisionTrees and Sungtae An and mpaluri and Ellon Paiva Mendes and Mike Bosse and Akash Patel and Ayush Baid and Paul Furgale and matthewbroadwaynavenio and roderick-koehle}, + author = {Frank Dellaert and GTSAM Contributors}, title = {borglab/gtsam}, - month = may, + month = May, year = 2022, - publisher = {Zenodo}, - version = {4.2a7}, + publisher = {Georgia Tech Borg Lab}, + version = {4.2a8}, doi = {10.5281/zenodo.5794541}, - url = {https://doi.org/10.5281/zenodo.5794541} + url = {https://github.com/borglab/gtsam)}} } ``` -You can also get the latest citation available from Zenodo below: - -[![DOI](https://zenodo.org/badge/86362856.svg)](https://doi.org/10.5281/zenodo.5794541) - -Specific formats are available in the bottom-right corner of the Zenodo page. - -Citation for IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation: -``` -@book{imu_preintegration, - author={Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza}, - title={IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation}, - year={2015} -} - - - -``` - - -Citation for Factor Graphs for Robot Perception: -``` +To cite the `Factor Graphs for Robot Perception` book, please use: +```bibtex @book{factor_graphs_for_robot_perception, author={Frank Dellaert and Michael Kaess}, year={2017}, @@ -109,8 +90,15 @@ Citation for Factor Graphs for Robot Perception: publisher={Foundations and Trends in Robotics, Vol. 6}, url={http://www.cs.cmu.edu/~kaess/pub/Dellaert17fnt.pdf} } +``` - +If you are using the IMU preintegration scheme, please cite: +```bibtex +@book{imu_preintegration, + author={Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza}, + title={IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation}, + year={2015} +} ```