.. _tutorial-slam-for-beginners-the-basics:

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Simultaneous Localization and Mapping (SLAM) for beginners: the basics
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.. contents:: :local:

Videos
====================

For those who are new into mobile robotics and want a gentle introduction, I
recommend the following online resources:

- The `"5 minutes with Cyrill" series <https://www.youtube.com/playlist?list=PLgnQpQtFTOGSO8HC48K9sPuNliY1qxzV9>`_ (2020-2021).
  Here you can see the chapter for SLAM:

.. raw:: html

    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
        <iframe src="https://www.youtube.com/embed/BuRCJ2fegcc" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
    </div> <br/> <hr><br/>


- These `taped seminars <https://www.youtube.com/watch?v=U6vr3iNrwRA&list=PLgnQpQtFTOGQrZ4O5QzbIHgl3b1JHimN_>`_ by Cyrill Stachniss (2012-2013):

.. raw:: html

    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
        <iframe src="https://www.youtube.com/embed/V9qQc5X7O0k" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
    </div> <br/> <hr><br/>

- This course by Dr. Jürgen Sturm (TUM, 2013):

.. raw:: html

    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
        <iframe src="https://www.youtube.com/embed/f5khDPUMYmQ" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
    </div> <br/> <hr><br/>

- My 2020 course `"A brief introduction to factor graphs" <https://www.youtube.com/watch?v=nLQ-YiPPMeU&list=PLOJ3GF0x2_eWtGXfZ5Ne1Jul5L-6Q76Sz>`_ (5 videos).
  Here it is the fifth video, an introduction to the GTSAM library:

.. raw:: html

    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
        <iframe src="https://www.youtube.com/embed/rqvNn1ntn-A" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
    </div> <br/>


Papers and books
====================

- The current must-read SLAM survey paper (2020-2021):
  Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., ... & Leonard, J. J. (2016).
  Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age.
  IEEE Transactions on robotics, 32(6), 1309-1332. (`PDF <https://marinerobotics.mit.edu/sites/default/files/slam%20survey.pdf>`_)

- Our SLAM book, for those who want a rigorous treatment of all probabilistic equations in modern mobile robotics (~2012):
  `“Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods” <https://www.mrpt.org/slam_book_2012/>`_ (Fernández-Madrigal, J.A. and Blanco, J.L., 2012).

- About EKF-based SLAM with landmark maps (the trend between 1999 and ~2010, outdated nowadays):

  - Hugh Durrant-Whyte & Tim Bailey. “Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms“, (2006) (`PDF <http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.128.4195&rep=rep1&type=pdf>`_)

  - Tim Bailey & Hugh Durrant-Whyte and . “Simultaneous Localisation and Mapping (SLAM): Part II State of the Art“, (2006) (`PDF <http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.108.4153&rep=rep1&type=pdf>`_)

- An excellent introductory/advanced book (for everything up to ~2005): `Probabilistic Robotics <https://mitpress.mit.edu/books/probabilistic-robotics>`_, by Sebastian Thrun, Wolfram Burgard and Dieter Fox.
