SLAM Algorithms

• 1. Structure Overview
  • 1.1. Notations
  • 1.2. Formulation
• 2. Front End Module
  • 2.1. Camera Projection model
  • 2.2. Vision Processing Front End
  • 2.3. INSPVA Message Processing Front End
  • 2.4. (Optional) IMU Preintegration
• 3. Back End Module
  • 3.1. Nonlinear Least Square problem
  • 3.2. Bundle Adjustment
  • 3.3. Sliding Window and Marginalization
• 4. Map Management Module
  • 4.1. Loop Closure
  • 4.2. Global Pose Graph Map Merging
  • 4.3. Pose Graph Map Load & Save