Welcome to 14 Lectures on Visual SLAM: From Theory to Practice, by Xiang Gao, Tao Zhang, Qinrui Yan and Yi Liu
This is the English version of this book. If you are a Chinese reader, please check this page. Our code is in github: code.
So far the English version is free as I haven't contacted any publishing house. It is translated from the Chinese version. We are still doing the translation, maybe for a few months.
Chapter 1. Preface
Chapter 2. First Glance of Visual SLAM
Chapter 3. Rigid Body Motion in 3D Space
Chapter 4. Lie Group and Lie Algebra
Chapter 5. Cameras and Images
Chapter 6. Non-linear Optimization
Chapter 7. Feature Based Visual Odometry
Chapter 8. Direct (Intensity based) Visual Odometry
Chapter 9. Project
Chapter 10. Backend Optimization
Chapter 11. Pose Graph and Factor Graph
Chapter 12. Loop Closure
Chapter 13. Dense Reconstruction and Mapping
Chapter 14. Future of Visual SLAM
If you are doing academic works, please cite:
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},
} ```