Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866910205552361472 |
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| author | Holmes, Connor Lilge, Sven Guo, Zi Cong Dellaert, Frank Barfoot, Timothy D. |
| author_facet | Holmes, Connor Lilge, Sven Guo, Zi Cong Dellaert, Frank Barfoot, Timothy D. |
| contents | Continuous-time state estimation is gaining in popularity due to its abilities to provide smooth solutions, handle asynchronous sensors, and interpolate between data points. While there are two main paradigms, parametric (e.g., temporal basis functions, splines) and nonparametric (Gaussian processes), the latter has seen less adoption despite its technical advantages and relative ease of implementation. In this article, we seek to rectify this situation by providing a new simplified explanation of GP continuous-time estimation rooted in the language of factor graphs, which have become the de facto estimation paradigm in much of robotics. To simplify onboarding, we also provide three working examples implemented in the popular GTSAM estimation framework. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_09073 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs Holmes, Connor Lilge, Sven Guo, Zi Cong Dellaert, Frank Barfoot, Timothy D. Robotics Continuous-time state estimation is gaining in popularity due to its abilities to provide smooth solutions, handle asynchronous sensors, and interpolate between data points. While there are two main paradigms, parametric (e.g., temporal basis functions, splines) and nonparametric (Gaussian processes), the latter has seen less adoption despite its technical advantages and relative ease of implementation. In this article, we seek to rectify this situation by providing a new simplified explanation of GP continuous-time estimation rooted in the language of factor graphs, which have become the de facto estimation paradigm in much of robotics. To simplify onboarding, we also provide three working examples implemented in the popular GTSAM estimation framework. |
| title | Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.09073 |