This series of articles is an introduction to SLAM algorithm and can be seen as a summary of the SLAM resources given on the following repository. Some good illustrations that help to understand the concepts will be displayed, some are come from their pdf document.

This article will go deeper into the comprehension of concepts such as Lie Group / Lie Algebra, Camera representation and non-linear optimizations.

Continue reading “SLAM: Simultaneous Localization and Mapping: Theoretical part”

This series of articles is an introduction to SLAM algorithm and can be seen as a summary of the SLAM resources given on the following repository. Some good illustrations that help to understand the concepts will be displayed, some are come from their pdf document.

This article first briefly introduces SLAM problems and then focuses on the mathematical foundations needed to solve them: coordinate manipulation (vectors, rotation matrix, quaternion, etc.) and transformations (similarity and perspective).

Continue reading “SLAM: Simultaneous Localization and Mapping: Mathematical foundations”