A bilingual (English / 한국어) tutorial that teaches what actually happens inside GTSAM, built around step-by-step scaffolding: every chapter is sized to layer on the previous one, so that by the end you understand how BetweenFactor works at the implementation level.
Live site: https://limhyungtae.github.io/Easy_GTSAM_Tutorial/
What's covered
| # | Chapter |
|---|---|
| Q | Quick Start (5-minute pose-graph SLAM) |
| 1 | BetweenFactor and how SLAM optimization actually works |
| 2 | SE(2): transformation matrix, Jacobian, block operations |
| 3 | Skew-symmetric matrix in 2D, the easy way |
| 4 | Unary factor: deriving a Lie-group Jacobian end-to-end |
| 5 | A worked example: Rot2::unrotate |
| 6 | Pose2::BetweenFactor Jacobian derivation |
| 7 | The Adjoint map, the easy way |
| 8 | Pose3::BetweenFactor Jacobian derivation |
| 9 | Kimera-PGMO's Deformation Factor derivation |
| 10 | Debugging factors with numericalDerivative |
Audience. You've run GTSAM on a toy SLAM problem and want to understand why its math is structured the way it is. If you only want to run pose-graph SLAM, Quick Start is enough; for everything else, the chapters build toward a low-level understanding of factor errors, Local / Logmap, and Jacobian blocks.
Author. Hyungtae Lim, Postdoctoral Associate at MIT SPARK Lab (Prof. Luca Carlone's group).
Source content. Each chapter is a re-organized English/Korean rendering of the author's original Korean blog posts at https://limhyungtae.github.io/. Chapter Q is condensed (with permission) from @engcang's GTSAM tutorial.
Stack. Single static HTML page with a sticky left sidebar nav. KaTeX for math, Prism for syntax highlighting. No build step.
Local preview
cd docs && python3 -m http.server 8000
# open http://localhost:8000Deployment. Pushes to main are deployed to GitHub Pages by .github/workflows/pages.yml (uploads the docs/ folder as a Pages artifact). One-time setup: in the repo Settings → Pages, set Source: GitHub Actions. After that, every push to main redeploys automatically.
PRs and issues welcome. Especially: typo fixes, clearer math explanations, broken-link reports.