IncrementalInference
Clique recycling non-Gaussian (multi-modal) factor graph solver; also see Caesar.jl.
Science Score: 77.0%
This score indicates how likely this project is to be science-related based on various indicators:
-
✓CITATION.cff file
Found CITATION.cff file -
✓codemeta.json file
Found codemeta.json file -
✓.zenodo.json file
Found .zenodo.json file -
✓DOI references
Found 3 DOI reference(s) in README -
✓Academic publication links
Links to: zenodo.org -
✓Committers with academic emails
4 of 18 committers (22.2%) from academic institutions -
○Institutional organization owner
-
○JOSS paper metadata
-
○Scientific vocabulary similarity
Low similarity (15.2%) to scientific vocabulary
Keywords
Keywords from Contributors
Repository
Clique recycling non-Gaussian (multi-modal) factor graph solver; also see Caesar.jl.
Basic Info
Statistics
- Stars: 74
- Watchers: 4
- Forks: 20
- Open Issues: 132
- Releases: 141
Topics
Metadata Files
README.md
IncrementalInference.jl
Click on badges to follow links:
| Stable Release | Dev branch | Coverage | Documentation |
|----------------|------------|----------|---------------|
| 
|
| 
| 
|
Optimization routines for incremental non-parametric and parametric solutions based on factor graphs and the Bayes (Junction) tree implemented in the Julia language.
Introduction
This package implements a few different non-Gaussian factor graph inference algorithms, primarily
- Multi-Modal iSAM (MM-iSAM) (see references) which does hybrid non-parametric and parametric inference/state-estimation over large factor graphs.
- Batch Parametric (akin to conventional "non-linear least squares"),
- Max-mixtures parametric,
- Other multiparametric and non-Gaussian algorithms are in the works and will be announced in due course.
Fundamentally, inference is performed via the Bayes (junction) tree where Chapman-Kolmogorov transit integral solutions are based on marginal-joint belief estimation (a sum-product / belief-propagation approximation algorithm). Many benefits such as clique recycling are also available. See the common Caesar.jl documenation for more details.
This package forms a cardinal piece of the Caesar.jl robotics toolkit, including 3D visualization and database interaction, which can serve as a base station for a robotic platform. A standalone Robot Motion Estimate (RoME.jl) package extends the available variables, factors, and utilities for use in robotic navigation. 
Note, that IncrementalInference.jl does not have to be used with RoME.jl / Caesar.jl -- IncrementalInference.jl only implements the algebraic inference operations against mathematical abstractions such as Manifolds.jl.
Furthermore, please contact info@wherewhen.ai for more formal support on this package, NavAbility(TM) by WhereWhen.ai Technologies Inc..
Examples
See the common Caesar.jl documenation for more details . Further examples can be found in the examples and test folders.
Installation
Install the package from inside Julia
julia
pkg> add IncrementalInference
Cite and Contributors
We are grateful for many, many contributions within the Julia package ecosystem -- see the Project.toml files for a far reaching list of upstream packages and contributions.
Consider citing our work using the common reference at Caesar.jl Citation with IncrementalInference.jl DOI
Get Involved, and Code of Conduct
This project adheres to the JuliaRobotics code of conduct, and we invite contributions or comments from the community. Use the slack channel, Julia Discourse, or Github issues to get in touch.
References
See references of interest here
Legacy
Pre-install the following packages system wide packages[, and easily draw factor graph and Bayes tree]:
bash
sudo apt-get install hdf5-tools
sudo apt-get install graphviz xdot # optional
Owner
- Name: JuliaRobotics
- Login: JuliaRobotics
- Kind: organization
- Website: http://www.juliarobotics.org/
- Repositories: 32
- Profile: https://github.com/JuliaRobotics
Citation (CITATION.bib)
@online{Caesarjl2021,
author = {{P}ackage {C}ontributors and {E}cosystem},
title = {Caesar.jl, v0.16.3},
year = {2024},
doi= {Solver DOI: 10.5281/zenodo.5146222},
note = {\url{https://github.com/JuliaRobotics/Caesar.jl}}
}
GitHub Events
Total
- Create event: 24
- Release event: 2
- Issues event: 9
- Watch event: 4
- Delete event: 178
- Issue comment event: 20
- Push event: 64
- Pull request review comment event: 12
- Pull request review event: 15
- Pull request event: 52
- Fork event: 1
Last Year
- Create event: 24
- Release event: 2
- Issues event: 9
- Watch event: 4
- Delete event: 178
- Issue comment event: 20
- Push event: 64
- Pull request review comment event: 12
- Pull request review event: 15
- Pull request event: 52
- Fork event: 1
Committers
Last synced: 7 months ago
Top Committers
| Name | Commits | |
|---|---|---|
| dehann | d****e@g****m | 2,817 |
| Johannes Terblanche | t****j@g****m | 442 |
| gearsad | s****d@g****m | 82 |
| CompatHelper Julia | c****y@j****g | 25 |
| github-actions[bot] | 4****] | 17 |
| antonio teran | t****n@m****u | 13 |
| pvazteixeira | p****t@m****u | 7 |
| Richard Samuelson | s****k@g****m | 6 |
| Sam Claassens | s****m@g****g | 5 |
| Johan | a****e | 4 |
| Fredrik Ekre | e****k@g****m | 1 |
| Johan Terblanche | j****n@i****m | 1 |
| Julia TagBot | 5****t | 1 |
| Kevin | k****y@m****u | 1 |
| Tim Holy | t****y@g****m | 1 |
| Ubuntu | u****u@i****l | 1 |
| Kristoffer Carlsson | k****l@s****e | 1 |
| Tony Kelman | t****y@k****t | 1 |
Committer Domains (Top 20 + Academic)
Issues and Pull Requests
Last synced: 4 months ago
All Time
- Total issues: 61
- Total pull requests: 228
- Average time to close issues: 5 months
- Average time to close pull requests: 13 days
- Total issue authors: 4
- Total pull request authors: 6
- Average comments per issue: 4.1
- Average comments per pull request: 0.68
- Merged pull requests: 197
- Bot issues: 0
- Bot pull requests: 38
Past Year
- Issues: 6
- Pull requests: 45
- Average time to close issues: 22 days
- Average time to close pull requests: 27 days
- Issue authors: 2
- Pull request authors: 4
- Average comments per issue: 0.67
- Average comments per pull request: 0.56
- Merged pull requests: 29
- Bot issues: 0
- Bot pull requests: 13
Top Authors
Issue Authors
- dehann (45)
- Affie (13)
- JuliaTagBot (1)
- itsDionix (1)
Pull Request Authors
- dehann (144)
- github-actions[bot] (48)
- Affie (47)
- GearsAD (4)
- samuelsonric (4)
- timholy (1)
Top Labels
Issue Labels
Pull Request Labels
Packages
- Total packages: 1
-
Total downloads:
- julia 9 total
- Total dependent packages: 4
- Total dependent repositories: 4
- Total versions: 133
juliahub.com: IncrementalInference
Clique recycling non-Gaussian (multi-modal) factor graph solver; also see Caesar.jl.
- Documentation: https://docs.juliahub.com/General/IncrementalInference/stable/
- License: MIT
-
Latest release: 0.35.6
published 8 months ago
Rankings
Dependencies
- JuliaRegistries/TagBot v1 composite
- actions/cache v1 composite
- actions/checkout v2 composite
- codecov/codecov-action v2 composite
- julia-actions/cache v1 composite
- julia-actions/julia-buildpkg v1 composite
- julia-actions/julia-processcoverage v1 composite
- julia-actions/julia-runtest v1 composite
- julia-actions/setup-julia v1 composite