mlsanityData to 14 Oct 2026

FutureMapping 2: Gaussian Belief Propagation for Spatial AI

arXiv 1910.14139 ↗First posted 30 Oct 2019cs.AI cs.CV cs.DCcited by 17

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Abstract (arXiv)

We argue the case for Gaussian Belief Propagation (GBP) as a strong algorithmic framework for the distributed, generic and incremental probabilistic estimation we need in Spatial AI as we aim at high performance smart robots and devices which operate within the constraints of real products. Processor hardware is changing rapidly, and GBP has the right character to take advantage of highly distributed processing and storage while estimating global quantities, as well as great flexibility. We present a detailed tutorial on GBP, relating to the standard factor graph formulation used in robotics and computer vision, and give several simulation examples with code which demonstrate its properties.

Key facts. Cited by 17 papers in the map (data through 14 Oct 2026). First posted on arXiv 30 Oct 2019.

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Citing papers per year: 2021: 4; 2022: 3; 2023: 3; 2024: 2; 2025: 0; 2026: 5.

17 papers.

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  1. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  2. 2023Active Neural Mappingcited by 31
  3. 2021Advances in Inference and Representation for Simultaneous Localization and Mappingcited by 16
  4. 2021A visual introduction to Gaussian Belief Propagationcited by 13
  5. 2022A Robot Web for Distributed Many-Device Localisationcited by 9
  6. 2023TextSLAM: Visual SLAM with Semantic Planar Text Featurescited by 8
  7. 2022RL-PGO: Reinforcement Learning-based Planar Pose-Graph Optimizationcited by 4
  8. 2022Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagationcited by 4
  9. 2021Incremental Abstraction in Distributed Probabilistic SLAM Graphscited by 3
  10. 2024Gaussian Ensemble Belief Propagation for Efficient Inference in High-Dimensional Systemscited by 2
  11. 2023Learning in Deep Factor Graphs with Gaussian Belief Propagationcited by 1
  12. 2024Hyperion -- A fast, versatile symbolic Gaussian Belief Propagation framework for Continuous-Time SLAMcited by 1
5 more
  1. 2026Gaussian Belief Propagation Network for Depth Completioncited by 1
  2. 2026Visual General Intelligence: A White Papercited by 1
  3. 2026A Distributed Gaussian Process Model for Multi-Robot Mappingcited by 0
  4. 2026PixVOD: Pixel-Distributed Direct Visual Odometry and Depth Estimationcited by 0
  5. 2026Hierarchy-GBP: Accelerating Factor Graph Inference via Abstraction and Recoverycited by 0