WRITEUPmar 15, 2026~ 12 min
A GTSAM pose estimator for the field
pose error, 1σ ±2.1 cm
Most FRC pose estimators are a Kalman filter: predict from odometry, correct on each tag. This project asked a different question — what if we treat the whole match as one big factor graph and let GTSAM smooth the entire trajectory at once?