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.

http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf

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.