iSAM is an optimization library for sparse nonlinear problems as encountered in simultaneous localization and mapping (SLAM) in mobile robotics. The iSAM library provides efficient algorithms for batch and incremental optimization, recovering the exact least-squares solution. The library can easily be extended to new problems, and functionality for often encountered 2D and 3D SLAM problems is already provided.

librsb is a library for sparse matrix computations featuring the Recursive Sparse Blocks (RSB) matrix format. This format allows cache-efficient and multithreaded (that is, shared memory parallel) operations on large sparse matrices. The most common operations necessary to iterative solvers are available (matrix-vector multiplication, triangular solution, rows/columns scaling, diagonal extraction/setting, blocks extraction, norm computation, formats conversion). The RSB format is especially well-suited for symmetric and transposed multiplication variants. On these variants, librsb has been found to be faster than Intel MKL's implementation for CSR. Most numerical kernels code is auto-generated, and the supported numerical types can be chosen by the user at buildtime. librsb implements the Sparse BLAS standard, as specified in the BLAS Forum documents.