base on Release repo for our SLAM Handbook # SLAM Handbook Public Release Together with a large number of experts in Simultaneous Localization and Mapping (SLAM) we are preparing the **SLAM Handbook** to be published by Cambridge University Press. This book will cover the theoretical background of SLAM, its applications, and its future as spatial AI. We expect this handbook will be a good guideline for those working in this field. Starting from the release of Part 1 in November 2024, Part 2 in March 2025, and Part 3 in May 2025, we have incrementally released the book to accommodate feedback from the public. Please use this repository's **issue** and **discussion** boards to report any issues or ideas regarding this book. ## How to Cite this Book? Please cite it as a book chapter. You can find the specific bibliography entry for each chapter by clicking the dropdown menu below. ### Part 1: Foundations of SLAM <details><summary>Part 1 Prelude</summary> ```bibtex @inbook{sh-p1-prelude, title = {Part1 Prelude}, author = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter1: Factor Graphs for SLAM</summary> ```bibtex @inbook{sh-ch1-fg4slam, title = {Factor Graphs for SLAM}, author = {Frank Dellaert and Michael Kaess and Timothy Barfoot}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter2: Advanced State Variable Representations</summary> ```bibtex @inbook{sh-ch2-state, title = {Advanced State Variable Representations}, author = {Timothy Barfoot and Frank Dellaert and Michael Kaess and Jose Luis Blanco-Claraco}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter3: Robustness to Incorrect Data Association and Outliers</summary> ```bibtex @inbook{sh-ch3-outlier, title = {Robustness to Incorrect Data Association and Outliers}, author = {Heng Yang and Josh Mangelson and Yun Chang and Jingnan Shi and Luca Carlone}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter4: Differentiable Optimization</summary> ```bibtex @inbook{sh-ch4-diffopt, title = {Differentiable Optimization}, author = {Chen Wang and Krishna Murthy Jatavallabhula and Mustafa Mukadam}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter5: Dense Map Representation</summary> ```bibtex @inbook{sh-ch5-map, title = {Dense Map Representation}, author = {Victor Reijgwart and Jens Behley and Teresa Vidal-Calleja and Helen Oleynikova and Lionel Ott and Cyrill Stachniss and Ayoung Kim}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter6: Theoretical Properties</summary> ```bibtex @inbook{sh-ch6-theory, title = {Certifiably Optimal Solvers and Theoretical Properties of {SLAM}}, author = {David M. Rosen and Kasra Khosoussi and Connor Holmes and Gamini Dissanayake and Timothy Barfoot and Luca Carlone}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> ### Part 2: SLAM in Practice <details><summary>Part 2 Prelude</summary> ```bibtex @inbook{sh-p2-prelude, title = {Part 2 Prelude}, author = {Ayoung Kim and Timothy Barfoot and Luca Carlone and Frank Dellaert and Daniel Cremers}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter7: Visual SLAM</summary> ```bibtex @inbook{sh-ch7-vision, title = {Visual {SLAM}}, author = {Jakob Engel and Juan D. Tard´os and Javier Civera and Margarita Chli and Stefan Leutenegger and Frank Dellaert and Daniel Cremers}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter8: LiDAR SLAM</summary> ```bibtex @inbook{sh-ch8-lidar, title = {{LiDAR SLAM}}, author = {Jens Behley and Maurice Fallon and Shibo Zhao and Giseop Kim and Ji Zhang and Fu Zhang and Ayoung Kim}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter9: Radar SLAM</summary> ```bibtex @inbook{sh-ch9-radar, title = {Radar {SLAM}}, author = {Martin Magnusson and Christoffer Heckman and Henrik Andreasson and Ayoung Kim and Timothy Barfoot and Michael Kaess and Paul Newman}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter10: Event-based SLAM</summary> ```bibtex @inbook{sh-ch10-event, title = {Event-based {SLAM}}, author = {Guillermo Gallego and Javier Hidalgo-Carri´o and Davide Scaramuzza}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter11: Inertial Odometry for SLAM</summary> ```bibtex @inbook{sh-ch11-imu, title = {Inertial Odometry for {SLAM}}, author = {Guoquan (Paul) Huang and C´edric Le Gentil and Teresa Vidal-Calleja and Davide Scaramuzza and Frank Dellaert and Luca Carlone}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter12: Leg Odometry for SLAM</summary> ```bibtex @inbook{sh-ch12-proprio, title = {Leg Odometry for {SLAM}}, author = {Marco Camurri and Mat´ıas Mattamala}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> ### Part 3: From SLAM to Spatial AI <details><summary>Part 3 Prelude</summary> ```bibtex @inbook{sh-p3-prelude, title = {Part3 Prelude}, author = {Marc Pollefeys and Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter13: Boosting SLAM with Deep Learning</summary> ```bibtex @inbook{sh-ch13-dl4slam, title = {Boosting {SLAM} with Deep Learning}, author = {Zachary Teed and Jia Deng, Boris Chidlovskii and J´erome Revaud and Felix Wimbauer and Daniel Cremers}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter14: Map Representations with Differentiable Volume Rendering</summary> ```bibtex @inbook{sh-ch14-nerfgs, title = {Map Representations with Differentiable Volume Rendering}, author = {Hidenobu Matsuki and Andrew J. Davison}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter15: Dynamic and Deformable SLAM</summary> ```bibtex @inbook{sh-ch15-dyndef, title = {Dynamic and Deformable {SLAM}}, author = {Lukas Schmid and Jose Maria Martinez Montiel and Shoudong Huang and Daniel Cremers and Jose Neira and Javier Civera}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter16: Metric-Semantic SLAM</summary> ```bibtex @inbook{sh-ch16-semantic, title = {Metric-Semantic {SLAM}}, author = {Arash Asgharivaskasi and Kevin Doherty and Jens Behley and Nathan Hughes and Yun Chang and John Leonard and Henrik I. Christensen and Luca Carlone and Nikolay Atanasov}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter17: Towards Open-World Spatial AI</summary> ```bibtex @inbook{sh-ch17-openworld, title = {Towards Open-World Spatial {AI}}, author = {Liam Paull and Sacha Morin and Dominic Maggio and Martin B¨uchner and Cesar Cadena and Abhinav Valada and Luca Carlone}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> <details><summary>Chapter18: The Computational Structure of Spatial AI Systems</summary> ```bibtex @inbook{sh-ch18-spatial-ai, title = {The Computational Structure of Spatial {AI} Systems}, author = {Andrew J. Davison}, booktitle = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> ### To cite it as a book If you need to cite it as a book, use the following bib. <details><summary>SLAM Handbook Bib</summary> ```bibtex @book{slam-handbook, title = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence}, author = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers}, publisher = {Cambridge University Press}, editor = {Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers} } ``` </details> ## Contributors of the Book We deeply appreciate your contribution to this book! (in alphabetical order by their last name) Henrik Andreasson Arash Asgharivaskasi Nikolay Atanasov Timothy Barfoot Jens Behley Jose Luis Blanco-Claraco Martin Büchner Cesar Cadena Marco Camurri Luca Carlone Yun Chang Boris Chidlovskii Margarita Chli Henrik Christensen Javier Civera Daniel Cremers Andrew J. Davison Frank Dellaert Jia Deng Gamini Dissanayake Kevin Doherty Jakob Engel Maurice Fallon Guillermo Gallego Cédric Le Gentil Christoffer Heckman Javier Hidalgo-Carrió Connor Holmes Guoquan Huang Shoudong Huang Nathan Hughes Krishna Murthy Jatavallabhula Michael Kaess Kasra Khosoussi Ayoung Kim Giseop Kim John Leonard Stefan Leutenegger Dominic Maggio Martin Magnusson Joshua Mangelson Hidenobu Matsuki Matias Mattamala José M Martínez Montiel Sacha Morin Mustafa Mukadam Jose Neira Paul Newman Helen Oleynikova Lionel Ott Liam Paull Marc Pollefeys Victor Reijgwart Jerome Revaud David Rosen Davide Scaramuzza Lukas Schmid Jingnan Shi Cyrill Stachniss Niko Sunderhauf Juan D. Tardós Zachary Teed Abhinav Valada Teresa Vidal-Calleja Chen Wang Felix Wimbauer Heng Yang Fu Zhang Ji Zhang Shibo Zhao ", Assign "at most 3 tags" to the expected json: {"id":"13312","tags":[]} "only from the tags list I provide: [{"id":77,"name":"3d"},{"id":89,"name":"agent"},{"id":17,"name":"ai"},{"id":54,"name":"algorithm"},{"id":24,"name":"api"},{"id":44,"name":"authentication"},{"id":3,"name":"aws"},{"id":27,"name":"backend"},{"id":60,"name":"benchmark"},{"id":72,"name":"best-practices"},{"id":39,"name":"bitcoin"},{"id":37,"name":"blockchain"},{"id":1,"name":"blog"},{"id":45,"name":"bundler"},{"id":58,"name":"cache"},{"id":21,"name":"chat"},{"id":49,"name":"cicd"},{"id":4,"name":"cli"},{"id":64,"name":"cloud-native"},{"id":48,"name":"cms"},{"id":61,"name":"compiler"},{"id":68,"name":"containerization"},{"id":92,"name":"crm"},{"id":34,"name":"data"},{"id":47,"name":"database"},{"id":8,"name":"declarative-gui "},{"id":9,"name":"deploy-tool"},{"id":53,"name":"desktop-app"},{"id":6,"name":"dev-exp-lib"},{"id":59,"name":"dev-tool"},{"id":13,"name":"ecommerce"},{"id":26,"name":"editor"},{"id":66,"name":"emulator"},{"id":62,"name":"filesystem"},{"id":80,"name":"finance"},{"id":15,"name":"firmware"},{"id":73,"name":"for-fun"},{"id":2,"name":"framework"},{"id":11,"name":"frontend"},{"id":22,"name":"game"},{"id":81,"name":"game-engine "},{"id":23,"name":"graphql"},{"id":84,"name":"gui"},{"id":91,"name":"http"},{"id":5,"name":"http-client"},{"id":51,"name":"iac"},{"id":30,"name":"ide"},{"id":78,"name":"iot"},{"id":40,"name":"json"},{"id":83,"name":"julian"},{"id":38,"name":"k8s"},{"id":31,"name":"language"},{"id":10,"name":"learning-resource"},{"id":33,"name":"lib"},{"id":41,"name":"linter"},{"id":28,"name":"lms"},{"id":16,"name":"logging"},{"id":76,"name":"low-code"},{"id":90,"name":"message-queue"},{"id":42,"name":"mobile-app"},{"id":18,"name":"monitoring"},{"id":36,"name":"networking"},{"id":7,"name":"node-version"},{"id":55,"name":"nosql"},{"id":57,"name":"observability"},{"id":46,"name":"orm"},{"id":52,"name":"os"},{"id":14,"name":"parser"},{"id":74,"name":"react"},{"id":82,"name":"real-time"},{"id":56,"name":"robot"},{"id":65,"name":"runtime"},{"id":32,"name":"sdk"},{"id":71,"name":"search"},{"id":63,"name":"secrets"},{"id":25,"name":"security"},{"id":85,"name":"server"},{"id":86,"name":"serverless"},{"id":70,"name":"storage"},{"id":75,"name":"system-design"},{"id":79,"name":"terminal"},{"id":29,"name":"testing"},{"id":12,"name":"ui"},{"id":50,"name":"ux"},{"id":88,"name":"video"},{"id":20,"name":"web-app"},{"id":35,"name":"web-server"},{"id":43,"name":"webassembly"},{"id":69,"name":"workflow"},{"id":87,"name":"yaml"}]" returns me the "expected json"