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}, }

• 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