├── .github
└── ISSUE_TEMPLATE
│ └── bug_report.md
├── README.md
└── main.pdf
/.github/ISSUE_TEMPLATE/bug_report.md:
--------------------------------------------------------------------------------
1 | ---
2 | name: Bug report
3 | about: Create a report to help us improve
4 | title: ''
5 | labels: ''
6 | assignees: ''
7 |
8 | ---
9 |
10 | **Describe the bug**
11 | A clear and concise description of what the bug is.
12 |
13 | **To Reproduce**
14 | Steps to reproduce the behavior:
15 | 1. Go to '...'
16 | 2. Click on '....'
17 | 3. Scroll down to '....'
18 | 4. See error
19 |
20 | **Expected behavior**
21 | A clear and concise description of what you expected to happen.
22 |
23 | **Screenshots**
24 | If applicable, add screenshots to help explain your problem.
25 |
26 | **Desktop (please complete the following information):**
27 | - OS: [e.g. iOS]
28 | - Browser [e.g. chrome, safari]
29 | - Version [e.g. 22]
30 |
31 | **Smartphone (please complete the following information):**
32 | - Device: [e.g. iPhone6]
33 | - OS: [e.g. iOS8.1]
34 | - Browser [e.g. stock browser, safari]
35 | - Version [e.g. 22]
36 |
37 | **Additional context**
38 | Add any other context about the problem here.
39 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # SLAM Handbook Public Release
2 |
3 | Together with a large number of experts in Simultaneous Localization and Mapping (SLAM) we are preparing the **SLAM Handbook** to be published by Cambridge University Press. This book will cover the theoretical background of SLAM, its applications, and its future as spatial AI. We expect this handbook will be a good guideline for those working in this field.
4 |
5 | Starting from the release of Part 1 in November 2024, Part 2 in March 2025, and Part 3 in May 2025, we have incrementally released the book to accommodate feedback from the public. Please use this repository's **issue** and **discussion** boards to report any issues or ideas regarding this book.
6 |
7 | ## How to Cite this Book?
8 | Please cite it as a book chapter. You can find the specific bibliography entry for each chapter by clicking the dropdown menu below.
9 |
10 |
11 | ### Part 1: Foundations of SLAM
12 |
13 | Part 1 Prelude
14 |
15 | ```bibtex
16 | @inbook{sh-p1-prelude,
17 | title = {Part1 Prelude},
18 | author = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers},
19 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
20 | publisher = {Cambridge University Press},
21 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
22 | }
23 | ```
24 | Chapter1: Factor Graphs for SLAM
27 |
28 | ```bibtex
29 | @inbook{sh-ch1-fg4slam,
30 | title = {Factor Graphs for SLAM},
31 | author = {Frank Dellaert and Michael Kaess and Timothy Barfoot},
32 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
33 | publisher = {Cambridge University Press},
34 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
35 | }
36 | ```
37 |
38 | Chapter2: Advanced State Variable Representations
41 |
42 | ```bibtex
43 | @inbook{sh-ch2-state,
44 | title = {Advanced State Variable Representations},
45 | author = {Timothy Barfoot and Frank Dellaert and Michael Kaess and Jose Luis Blanco-Claraco},
46 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
47 | publisher = {Cambridge University Press},
48 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
49 | }
50 | ```
51 |
52 | Chapter3: Robustness to Incorrect Data Association and Outliers
55 |
56 | ```bibtex
57 | @inbook{sh-ch3-outlier,
58 | title = {Robustness to Incorrect Data Association and Outliers},
59 | author = {Heng Yang and Josh Mangelson and Yun Chang and Jingnan Shi and Luca Carlone},
60 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
61 | publisher = {Cambridge University Press},
62 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
63 | }
64 | ```
65 |
66 | Chapter4: Differentiable Optimization
69 |
70 | ```bibtex
71 | @inbook{sh-ch4-diffopt,
72 | title = {Differentiable Optimization},
73 | author = {Chen Wang and Krishna Murthy Jatavallabhula and Mustafa Mukadam},
74 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
75 | publisher = {Cambridge University Press},
76 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
77 | }
78 | ```
79 | Chapter5: Dense Map Representation
82 |
83 | ```bibtex
84 | @inbook{sh-ch5-map,
85 | title = {Dense Map Representation},
86 | author = {Victor Reijgwart and Jens Behley and Teresa Vidal-Calleja and Helen Oleynikova and Lionel Ott and Cyrill Stachniss and Ayoung Kim},
87 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
88 | publisher = {Cambridge University Press},
89 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
90 | }
91 | ```
92 |
93 | Chapter6: Theoretical Properties
96 |
97 | ```bibtex
98 | @inbook{sh-ch6-theory,
99 | title = {Certifiably Optimal Solvers and Theoretical Properties of {SLAM}},
100 | author = {David M. Rosen and Kasra Khosoussi and Connor Holmes and Gamini Dissanayake and Timothy Barfoot and Luca Carlone},
101 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
102 | publisher = {Cambridge University Press},
103 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
104 | }
105 | ```
106 |
107 | Part 2 Prelude
112 |
113 | ```bibtex
114 | @inbook{sh-p2-prelude,
115 | title = {Part 2 Prelude},
116 | author = {Ayoung Kim and Timothy Barfoot and Luca Carlone and Frank Dellaert and Daniel Cremers},
117 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
118 | publisher = {Cambridge University Press},
119 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
120 | }
121 | ```
122 |
123 | Chapter7: Visual SLAM
126 |
127 | ```bibtex
128 | @inbook{sh-ch7-vision,
129 | title = {Visual {SLAM}},
130 | author = {Jakob Engel and Juan D. Tard´os and Javier Civera and Margarita Chli and Stefan Leutenegger and Frank Dellaert and Daniel Cremers},
131 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
132 | publisher = {Cambridge University Press},
133 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
134 | }
135 | ```
136 |
137 | Chapter8: LiDAR SLAM
140 |
141 | ```bibtex
142 | @inbook{sh-ch8-lidar,
143 | title = {{LiDAR SLAM}},
144 | author = {Jens Behley and Maurice Fallon and Shibo Zhao and Giseop Kim and Ji Zhang and Fu Zhang and Ayoung Kim},
145 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
146 | publisher = {Cambridge University Press},
147 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
148 | }
149 | ```
150 |
151 | Chapter9: Radar SLAM
154 |
155 | ```bibtex
156 | @inbook{sh-ch9-radar,
157 | title = {Radar {SLAM}},
158 | author = {Martin Magnusson and Christoffer Heckman and Henrik Andreasson and Ayoung Kim and Timothy Barfoot and Michael Kaess and Paul Newman},
159 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
160 | publisher = {Cambridge University Press},
161 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
162 | }
163 | ```
164 |
165 | Chapter10: Event-based SLAM
168 |
169 | ```bibtex
170 | @inbook{sh-ch10-event,
171 | title = {Event-based {SLAM}},
172 | author = {Guillermo Gallego and Javier Hidalgo-Carri´o and Davide Scaramuzza},
173 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
174 | publisher = {Cambridge University Press},
175 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
176 | }
177 | ```
178 |
179 | Chapter11: Inertial Odometry for SLAM
182 |
183 | ```bibtex
184 | @inbook{sh-ch11-imu,
185 | title = {Inertial Odometry for {SLAM}},
186 | author = {Guoquan (Paul) Huang and C´edric Le Gentil and Teresa Vidal-Calleja and Davide Scaramuzza and Frank Dellaert and Luca Carlone},
187 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
188 | publisher = {Cambridge University Press},
189 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
190 | }
191 | ```
192 |
193 | Chapter12: Leg Odometry for SLAM
196 |
197 | ```bibtex
198 | @inbook{sh-ch12-proprio,
199 | title = {Leg Odometry for {SLAM}},
200 | author = {Marco Camurri and Mat´ıas Mattamala},
201 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
202 | publisher = {Cambridge University Press},
203 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
204 | }
205 | ```
206 | Part 3 Prelude
211 |
212 | ```bibtex
213 | @inbook{sh-p3-prelude,
214 | title = {Part3 Prelude},
215 | author = {Marc Pollefeys and Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers},
216 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
217 | publisher = {Cambridge University Press},
218 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
219 | }
220 | ```
221 |
222 | Chapter13: Boosting SLAM with Deep Learning
225 |
226 | ```bibtex
227 | @inbook{sh-ch13-dl4slam,
228 | title = {Boosting {SLAM} with Deep Learning},
229 | author = {Zachary Teed and Jia Deng, Boris Chidlovskii and J´erome Revaud and Felix Wimbauer and Daniel Cremers},
230 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
231 | publisher = {Cambridge University Press},
232 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
233 | }
234 | ```
235 |
236 | Chapter14: Map Representations with Differentiable Volume Rendering
239 |
240 | ```bibtex
241 | @inbook{sh-ch14-nerfgs,
242 | title = {Map Representations with Differentiable Volume Rendering},
243 | author = {Hidenobu Matsuki and Andrew J. Davison},
244 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
245 | publisher = {Cambridge University Press},
246 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
247 | }
248 | ```
249 |
250 | Chapter15: Dynamic and Deformable SLAM
253 |
254 | ```bibtex
255 | @inbook{sh-ch15-dyndef,
256 | title = {Dynamic and Deformable {SLAM}},
257 | author = {Lukas Schmid and Jose Maria Martinez Montiel and Shoudong Huang and Daniel Cremers and Jose Neira and Javier Civera},
258 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
259 | publisher = {Cambridge University Press},
260 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
261 | }
262 | ```
263 |
264 | Chapter16: Metric-Semantic SLAM
267 |
268 | ```bibtex
269 | @inbook{sh-ch16-semantic,
270 | title = {Metric-Semantic {SLAM}},
271 | author = {Arash Asgharivaskasi and Kevin Doherty and Jens Behley and Nathan Hughes and Yun Chang and John Leonard and Henrik I. Christensen and Luca Carlone and Nikolay Atanasov},
272 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
273 | publisher = {Cambridge University Press},
274 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
275 | }
276 | ```
277 |
278 | Chapter17: Towards Open-World Spatial AI
281 |
282 | ```bibtex
283 | @inbook{sh-ch17-openworld,
284 | title = {Towards Open-World Spatial {AI}},
285 | author = {Liam Paull and Sacha Morin and Dominic Maggio and Martin B¨uchner and Cesar Cadena and Abhinav Valada and Luca Carlone},
286 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
287 | publisher = {Cambridge University Press},
288 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
289 | }
290 | ```
291 |
292 | Chapter18: The Computational Structure of Spatial AI Systems
295 |
296 | ```bibtex
297 | @inbook{sh-ch18-spatial-ai,
298 | title = {The Computational Structure of Spatial {AI} Systems},
299 | author = {Andrew J. Davison},
300 | booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
301 | publisher = {Cambridge University Press},
302 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
303 | }
304 | ```
305 | SLAM Handbook Bib
312 |
313 | ```bibtex
314 | @book{slam-handbook,
315 | title = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},
316 | author = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers},
317 | publisher = {Cambridge University Press},
318 | editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}
319 | }
320 | ```
321 |