IncrementalInference (julia): Clique recycling non-Gaussian (multi-modal) factor graph solver; also see Caesar.jl.
Keywords: inference|isam|nonparametric|slam|robotics|bayes-tree|factor-graphs|multi-modal|chapman-kolmogorov|optimization|parametric|julia-language|state-estimation|belief-propagation|sum-product|filtering-algorithm|bayes|multi-hypothesis|bayes-network|caesar