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https://github.com/Taeyoung96/SLAM-Resources-for-Beginner

Highly recommended resources for SLAM newbies (Lecture, Reviewed paper, Books, Tutorial, etc)
https://github.com/Taeyoung96/SLAM-Resources-for-Beginner

List: SLAM-Resources-for-Beginner

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Highly recommended resources for SLAM newbies (Lecture, Reviewed paper, Books, Tutorial, etc)

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README

        

# SLAM-Resources-for-Beginner

SLAM is an abbreviation for **"Simultaneous localization and mapping"**.

SLAM is a field with high entry barriers for beginners.

As a beginner learning SLAM, I created this repository to organize resources that can be used as a reference when learning SLAM for the first time.

I made this repository based on the content from the [SLAM KR community](https://www.facebook.com/groups/slamkr/) and the activities of [my github followers](https://github.com/Taeyoung96?tab=following)!

If you are Korean, you will prefer to look [korean.md](https://github.com/Taeyoung96/SLAM-Resources-for-Beginner/blob/master/korean.md).

## Contents

- [Mathematics](#Mathematics)
- [Roadmap](#Roadmap)
- [Review Paper & Survey Paper](#review-paper--survey-paper)
- [Lecture](#Lecture)
- [Books](#Books)
- [Awesome-list](#Awesome-list)
- [Recommended github repository](#Recommended-github-repository)

## Mathematics

- Some Math Basics often used in Photogrammetry (Cyrill Stachniss, 2021) [[Youtube](https://youtu.be/Q042jupFMbU)]
> An brief, informal collection of math basics and tools that are often used in Photogrammetry (SVD, Least Squares with Gauss Newton)

- Linear Algebra Primer - Stanford Vision Lab [[pdf](http://vision.stanford.edu/teaching/cs131_fall1617/lectures/lecture2_linalg_review_cs131_2016.pdf)]
> Lecture slide for Linear Algebra Review

## Roadmap

- [changh95/visual-slam-roadmap](https://github.com/changh95/visual-slam-roadmap)
> Roadmap to becoming a Visual-SLAM developer

## Review Paper & Survey Paper

### SLAM

- **"SLAM tutorial : Part 1"** By H. Durrant-Whyte and T. Bailey (IEEE Robotics & Automation Magazine 2006) - [[pdf](https://www.doc.ic.ac.uk/~ajd/Robotics/RoboticsResources/SLAMTutorial1.pdf)]
- **"SLAM tutorial : Part 2"** By H. Durrant-Whyte and T. Bailey (IEEE Robotics & Automation Magazine 2006) - [[pdf](https://www.doc.ic.ac.uk/~ajd/Robotics/RoboticsResources/SLAMTutorial2.pdf)]
- **"Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age"** By C. Cadena et al. (IROS 2016) - [[pdf](http://rpg.ifi.uzh.ch/docs/TRO16_cadena.pdf)]
- **"Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving"** By G. Bresson, Z. Alsayed et al. (IEEE Transactions on Intelligent Vehicles 2017) - [[pdf](https://hal.archives-ouvertes.fr/hal-01615897/file/2017-simultaneous_localization_and_mapping_a_survey_of_current_trends_in_autonomous_driving.pdf)]
- **"Comparison of modern open-source visual SLAM approaches"** By Dinar Sharafutdinov et al. (ArXiv 2021) - [[pdf](https://arxiv.org/pdf/2108.01654.pdf)]

### Visual SLAM & Visual Odometry

- **"Visual Odometry Part I: The First 30 Years and Fundamentals"** By Davide Scaramuzza and Friedrich Fraundorfer - [[pdf](http://rpg.ifi.uzh.ch/docs/VO_Part_I_Scaramuzza.pdf)]
- **"Visual Odometry Part II: Matching, Robustness, Optimization, and Applications"** By Davide Scaramuzza and Friedrich Fraundorfer - [[pdf](http://rpg.ifi.uzh.ch/docs/VO_Part_II_Scaramuzza.pdf)]
- **"A Comparison of Modern General-Purpose Visual SLAM Approaches"** By Alexey Merzlyakov et al. (IROS 2021) - [[pdf](https://arxiv.org/abs/2107.07589)]

### Visual-Inertial SLAM

- **"Visual-Inertial Navigation: A Concise Review"** By Guoquan Huang (ICRA 2019) - [[pdf](https://arxiv.org/abs/1906.02650)]
- **"Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle"** By Jinwoo Jeon et al. (ArXiv 2021) - [[pdf](https://arxiv.org/abs/2103.01655)]

### SLAM with Deep-learning

- **"A Survey on Deep Learning for Localization and Mapping: Towards the Age of Spatial Machine Intelligence"** By Changhao Chen et al. - [[pdf](https://arxiv.org/abs/2006.12567)]

### LiDAR global localization

- **"A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems"** By Huan Yin et al. - [[pdf](https://arxiv.org/abs/2302.07433)]

## Lecture

- **Mobile Robotics course** for the Winter 2020 Semester at the University of Michigan - [[Webpage](http://robots.engin.umich.edu/mobilerobotics/?fbclid=IwAR1NcjOxtgv6ohDPxFkAXIMDn91933IgGSXvav0HpO8lBWwCP0agFkoUS5A#lectures)]
- **Mobile Sensing And Robotics 2** By Stachniss (2021) - [[Webpage](https://www.ipb.uni-bonn.de/msr2-2021/)]
- **AirLab Summer School 2020** in Carnegie Mellon university - [[Webpage](https://theairlab.org/summer2020/)]
- **Tartan SLAM Series** in AirLab - [[Webpage](https://theairlab.org/tartanslamseries/)]
- **Tartan SLAM Series Fall Edition** in AirLab - [[Webpage](https://theairlab.org/tartanslamseries2/)]

## Books

- **Probabilistic Robotics** By Sebastian Thrun, Wolfram Burgard and Dieter Fox - [[Webpage](https://mitpress.mit.edu/books/probabilistic-robotics)], [[pdf](https://docs.ufpr.br/~danielsantos/ProbabilisticRobotics.pdf)]
- **Computer Vision: Algorithms and Applications, 2nd ed.** By Richard Szeliski - [[Webpage](http://szeliski.org/Book/)]
- **STATE ESTIMATION FOR ROBOTICS** By Timothy D. Barfoot - [[pdf](http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf)]

## Awesome-list
- [Awesome-SLAM](https://github.com/SilenceOverflow/Awesome-SLAM)
- [awesome-visual-slam](https://github.com/tzutalin/awesome-visual-slam)
- [Awesome LIDAR](https://github.com/szenergy/awesome-lidar)
- [Awesome SLAM Datasets](https://github.com/youngguncho/awesome-slam-datasets)
- [awesome-photogrammetry](https://github.com/awesome-photogrammetry/awesome-photogrammetry)
- [Awesome Robotic Tooling](https://github.com/protontypes/awesome-robotic-tooling#simultaneous-localization-and-mapping)
- [Awesome Robot Operating System 2 (ROS 2)](https://github.com/fkromer/awesome-ros2)
- [awesome-modern-cpp](https://github.com/rigtorp/awesome-modern-cpp) : Modern C++ is important language to learn SLAM system.

## Recommended github repository

### SLAM Trend
- [YiChenCityU/Recent_SLAM_Research](https://github.com/YiChenCityU/Recent_SLAM_Research)
> This repository tracks advancement of SLAM system. (2021 ver)

### Visual SLAM

- [gaoxiang12/slambook-en](https://github.com/gaoxiang12/slambook-en)
> The English version of 14 lectures on visual SLAM. You could see source code in [Slambook2](https://github.com/gaoxiang12/slambook2).

- [luigifreda/pyslam](https://github.com/luigifreda/pyslam)
> pySLAM contains a monocular Visual Odometry (VO) pipeline in Python.

- [avisingh599/mono-vo](https://github.com/avisingh599/mono-vo)
> An OpenCV based implementation of Monocular Visual Odometry

### Lidar SLAM
- [Kitware/pyLiDAR-SLAM](https://github.com/Kitware/pyLiDAR-SLAM)
> This codebase proposes modular light python and pytorch implementations of several LiDAR Odometry methods.

- [gisbi-kim/PyICP-SLAM](https://github.com/gisbi-kim/PyICP-SLAM)
> Full-python LiDAR SLAM using ICP and Scan Context

### Robotics
- [AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics)
> Python sample codes for robotics algorithms.

- [rlabbe/Kalman-and-Bayesian-Filters-in-Python](https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python)
> Kalman Filter book using Jupyter Notebook.

### 3D Vision
- [sunglok/3dv_tutorial](https://github.com/sunglok/3dv_tutorial)
> An Invitation to 3D Vision: A Tutorial for Everyone