Factor graphs and loopy belief propagation implemented in Python

factor graph library

Belief propagation with sparse matrices (scipy.sparse) in Python for LDPC codes. Includes NumPy implementation of message passing (min-sum and sum-product) and a few other decoders.

Using visual markers, Extended Kalman Filters, Factor Graphs, etc. to localize a handheld camera.

Implementation of the Belief Propagation Side Channel Attack

Developed and implemented 2D and 3D Pose Graph SLAM using the GTSAM library and Gauss Newton Solver on the Intel and Parking Garage g2o datasets respectively

Pratice and example to solve the pose graph SLAM problem using GTSAM

Pure python implementation of minisam.

A short python script to visualize factor graphs passed in as matrix inputs.

Learn a Factor Graph, or Markov Random Field (MRF), from data/observations. I.e. do PGM parameter learning.

Master thesis