Lecture 7, March 15

Graph SLAM

Good introduction about GraphSLAM can be found in Giorgio Grisetti, Rainer Kummerle, Cyrill Stachniss & Wolfram Burgard , A Tutorial on Graph-Based SLAM, Department of Computer Science, University of Freiburg, 79110 Freiburg, Germany. Graph SLAM is quite complicate, just try to understand the main ideas.


As additional reading material, general tutorial papers about SLAM can be found in

Durrant-Whyte, H., & Bailey, T. (2006). Simultaneous localization and mapping: part I. Robotics & Automation Magazine, IEEE, 13(2), 99-110.
Bailey, T., & Durrant-Whyte, H. (2006). Simultaneous localization and mapping (SLAM): Part II. IEEE Robotics & Automation Magazine, 13(3), 108-117.