Skip to content

Haotian-Zhang/Learn_SLAMBOOK

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

46 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Learn_SLAMBOOK

Code for learning SLAMBOOK

The repository includes the original & some of the HW answers written by myself. If you have any questions about using the codes, feel free to send the emails: haotiz at uw dot edu. I'd be so happy to discuss with you.

Please cite: Xiang Gao, Tao Zhang, Yi Liu, Qinrui Yan, 14 Lectures on Visual SLAM: From Theory to Practice, Publishing House of Electronics Industry, 2017.

In LaTeX: @Book{Gao2017SLAM, title={14 Lectures on Visual SLAM: From Theory to Practice}, publisher = {Publishing House of Electronics Industry}, year = {2017}, author = {Xiang Gao and Tao Zhang and Yi Liu and Qinrui Yan}, }

Contents

  • ch1 Preface
  • ch2 Overview of SLAM & linux, cmake
  • ch3 Rigid body motion & Eigen
  • ch4 Lie group and Lie Algebra & Sophus
  • ch5 Cameras and Images & OpenCV
  • ch6 Non-linear optimization & Ceres, g2o
  • ch7 Feature based Visual Odometry
  • ch8 Direct (Intensity based) Visual Odometry
  • ch9 Project
  • ch10 Back end optimization & Ceres, g2o
  • ch11 Pose graph and Factor graph & g2o, gtsam
  • ch12 Loop closure & DBoW3
  • ch13 Dense reconstruction & REMODE, Octomap