Today at ICRA 2012 we announced the version 2.0 of the Georgia Tech Smoothing and Mapping toolbox, GTSAM, with a new BSD License.

Notable changes from the previous release include:

1. •Large runtime speedup
   

2. •Simplified and cleaner API
   

3. •CMake build system
   

4. •Added Dogleg nonlinear optimization (also have Levenberg-Marquardt and Gauss-Newton)
   

5. •Added iSAM2 algorithm for incremental nonlinear estimation, including incremental Dogleg
   

6. •Suitable for SLAM, SAM, and bundle adjustment
   

Download GTSAM.

Check out the quickstart guide, or the more detailed documentation. Tutorials will be available soon. A detailed list of changes can be found here.