Factor Graph - 5 Minutes with Cyrill

Factor graphs explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020
Credits:
Video by Cyrill Stachniss
Thanks to Frank Dellaert
Intro music by The Brothers Records

[@SubodhMishrasubEE]

Dr. Stachniss, Thanks for this concise intro to factor graphs! Can you please make a video on IMU pre-integration?

[@isaaclopes3126]

Great video!

[@TheGatoskilo]

Great video as always Cyrill! What would be a suggested textbook reference to further delve into applying graph theory on state estimations problems?

[@SaiManojPrakhya]

Dear Prof. Cyrill,
Could you please create a hands on tutorial to solve a pose graph optimization or Bundle adjustment problem using factor graphs ?

[@SubodhMishrasubEE]

Lots of examples here: github.com/borglab/gtsam

[@le7724]

great video ! what is the difference between factor graph and pose graph ? can factor graph hold poses too ?

[@CyrillStachniss]

A factor graph can be seen as a generalization of a pose graph when considered as a representation for graph based slam. In a factor graph, we can model more than with pose graphs a such as factors connected to a single node, for example useful for gps/gas’s measurements.