Knowing about SLAM

9to5iot

Knowing about SLAMFirst reading:

• SLAM for dummies
  

From Wikipedia:

• Wikipedia: Simultaneous localization and mapping
• 维基百科：即时定位与地图构建
  

From zhihu:

• 知乎专栏：SLAM简介
• 机器人的双眸：视觉SLAM是如何实现的？
  

From Leiphone.com

• 大牛讲堂｜SLAM第一篇：基础知识
• 大牛讲堂｜SLAM最终话：视觉里程计
• SLAM，让机器人知行合一 | 硬创公开课
• 机器人自主移动的秘密，从SLAM技术说起（一）
• 机器人自主移动的秘密：实际应用中，SLAM究竟是如何实现的？（二）
• 机器人自主移动的秘密：SLAM与路径规划有什么关系？（三）
  

Blog post:

• 视觉SLAM漫谈
• The Future of Real-Time SLAM and Deep Learning vs SLAM
  
  

Context

　　Probablistic Models

　　Projective Geometry　　---->　　Single View Geometry　　---->　　Two-View Geometry

　　Computer Vision

　　Localization　　---->　　Kalman Filters

　　　　　　　　　　    　　   Paticle Filters

　　Mapping　　---->　　Grid Map

(Don't be serious on the below picture. Just for fun.)

Books

• SLAM for dummies
• Multiple View Geometry in Computer Vision [pdf] [matlab code] [course and slides]
  

　　这本书基本涵盖了Vision-based SLAM这个领域的全部理论基础！读多少遍都不算多！另外建议配合Berkeley的课件学习。（这本书书后附录也可以一并读完，包括附带bundle adjustment最基本的levenberg marquardt方法，newton方法等）(from zhihu)

• Linear Algebra Done Right
  

Papers入门系列 (from zhihu 郑帆的回答)

• Visual Servoing: Part 1, Part 2
• SLAM: Part 1, Part 2
• 6D Vectors: Part 1, Part 2
• Planning: Part 1, Part 2
• Visual Odometry: Part 1, Part 2
• Point Cloud Library: Tutorial
• Quadrotors: Tutorial
  

RAM 首页：RA Magazine - IEEE Robotics and Automation Society
Other recommended

• Local Accuracy and Global Consistency for Efficient Visual SLAM
  

Courses

• Tutorial on Visual Odometry
• Multiple View Geometry in Computer Vision
• Multiple View Geometry (Youtube)
• Tutorial on Multiple View Geometry
• Multiple View Geometry (by KTH)
• Udacity - Introduction to Computer Vision
  
  

Opensource Blogs & Packages

• OpenSlam: http://openslam.org/ (Most main stream open source slam resource can be found on OpenSLAM, which is a set of packages.)
• MRPT: http://www.mrpt.org/
• Monocular SLAM: https://www.doc.ic.ac.uk/project/2015/163/g1516307/computing_topics_website/index.html
• ORB-SLAM2: https://github.com/raulmur/ORB_SLAM2.git (including the paper and the tutorial)
  

Dataset

• Tum
• MRP
• Kitti
• ICDL-NUIM