The paper recasts Gaussian-process continuous-time estimation in factor-graph language and supplies three GTSAM implementations to lower the barrier to adoption.
Exactly Sparse Gaussian Variational Inference with Application to Derivative-Free Batch Nonlinear State Estimation , url =
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Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs
The paper recasts Gaussian-process continuous-time estimation in factor-graph language and supplies three GTSAM implementations to lower the barrier to adoption.