You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
Copy file name to clipboardExpand all lines: README.md
+1-2Lines changed: 1 addition & 2 deletions
Display the source diff
Display the rich diff
Original file line number
Diff line number
Diff line change
@@ -2,8 +2,6 @@
2
2
<imgsrc="https://raw.githubusercontent.com/sair-lab/bae/93eb45121965719c1abbed9437b4832f669b8c87/assets/github-banner.svg"alt="bundle adjustment in the eager-mode"width="100%" />
3
3
</picture>
4
4
5
-
#### BAE has been integrated into [PyPose](https://github.com/pypose/pypose) and is available from [v0.9.5](https://pypi.org/project/pypose/) or higher. Please refer to [this example](https://github.com/pypose/pypose/tree/main/examples/module/ba) and docs of [psjac](https://pypose.org/docs/main/generated/pypose.autograd.function.parallel_for_sparse_jacobian/#pypose.autograd.function.parallel_for_sparse_jacobian) and [LM](https://pypose.org/docs/main/generated/pypose.optim.LevenbergMarquardt/#pypose.optim.LevenbergMarquardt).
6
-
7
5
<palign="center">
8
6
<a>Accepted to <b>IEEE Transactions on Robotics (T-RO)</b>, 2026</a>
> **⚠️ User Notice**: `bae` has been integrated with [PyPose](https://github.com/pypose/pypose) and is available from [v0.9.5](https://pypi.org/project/pypose/) or higher. Please refer to [this example](https://github.com/pypose/pypose/tree/main/examples/module/ba) and docs of [psjac](https://pypose.org/docs/main/generated/pypose.autograd.function.parallel_for_sparse_jacobian/#pypose.autograd.function.parallel_for_sparse_jacobian) and [LM](https://pypose.org/docs/main/generated/pypose.optim.LevenbergMarquardt/#pypose.optim.LevenbergMarquardt).
19
18
20
19
`bae` is a PyTorch-based library supporting **exact** 2nd-order optimization techniques. The library provides efficient implementations for sparse optimization problems in robotics, particularly Bundle Adjustment (BA) and Pose Graph Optimization (PGO).
0 commit comments