SLAM Index

Definition

• Localisation
• What is SLAM?

Sensors for SLAM

• Position acquisition (relative vs. absolute)
• SLAM hardware

Relative

• Odometry
• IMU

Absolute

• Sensors (absolute measurements) for measuring distance to landmarks

• Visual sensors for localisation

  • Monocular depth perception
  • Pinhole camera model
  • Camera calibration
  • World to camera trafo

Fusion

• Multisensor fusion
• Loose vs Tight coupling
• Why use the visual-inertial sensor combination?

Visual SLAM

• Classification of image-based camera localization approaches
• Visual SLAM Implementation Framework
• Feature-based vs direct SLAM workflow

Sparse vs dense

• Sparse/Feature-based VSLAM
• Dense/direct VSLAM

Landmarks/Feature extraction

• landmarks
• Bag of words

Data association

Loop closure

• Loop closing in VIORB
• Loop closure detection

Filtering vs optimisation

Filter-based vs optimisation-based SLAM

Filter-based

• Filter localisation methods
• Extended Kalman Filter  -  basic ekf-for-slam
• rlabbe Kalman/Bayesian filters in Python

Keyframe-based

• Some optimisation-based tightly-coupled multisensor SLAM algorithms
• Handling the computational complexity of optimisation-based SLAM

Established SLAM algorithms

• Some optimisation-based tightly-coupled multisensor SLAM algorithms
• State-of-the-art SLAM
• Mur-Artal 2017 VI-ORB
• Lamarca 2020 DefSLAM

Resources

SLAM resources