Tutorials: SLAM algorithms

This page aims at listing all SLAM (or related) methods implemented in MRPT and their documentation, if available:

• Graph-SLAM
  • Theory:
    • A good starting point is: Grisetti, G. and Kümmerle, R. and Stachniss, C. and Burgard, W. A tutorial on graph-based SLAM. IEEE Intelligent Transportation Systems Magazine, 2010. (PDF)
    • Chapter 10 of our book "Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods" (link)
  • ​Apps:  graph-slam
  • Examples: graph_slam_demo
  • C++ API: mrpt-graphslam
• Bundle Adjustment (global coordinates)
  • Theory: Refer to the p​aper:
    • Triggs, B. and McLauchlan, P. and Hartley, R. and Fitzgibbon, A. Bundle adjustment—a modern synthesis. Vision algorithms: theory and practice, 2000. (PDF)
  • Examples: Bundle_Adjustment_full_demo
  • C++ API: module "bundle adjustment" within mrpt-vision
• Relative Bundle Adjustment (RBA)
  • Theory, papers, C++ API and tutorials.
• ICP-SLAM
  • Theory: Incremental map-building using the ICP algorithm for aligning sequential laser scans. One classic paper describing this idea is:
    • Gutmann, J.S. and Konolige, K. Incremental mapping of large cyclic environments. Proceedings of CIRA, 1999. (PDF)
  • Apps: ​icp-slam
  • C++ API: mrpt::slam::CMetricMapBuilderICP
• RBPF-SLAM:
  • Theory
  • Apps: rbpf-slam
  • C++ API: mrpt::slam::CMetricMapBuilderRBPF
• Range Only (RO)-SLAM:
  • Theory, papers, C++ API and videos
• 2D/3D(6DoF) EKF SLAM
  • Theory
  • Apps: kf-slam
  • C++ API: 6D version: mrpt::slam::CRangeBearingKFSLAM, 2D version: mrpt::slam::CRangeBearingKFSLAM2D

See also:

• The page SLAM for beginners.
• Metric SLAM algorithms (part of the library mrpt-slam)
• Graph-SLAM algorithms (the library mrpt-graphslam)
• Hybrid Metric-Topological (HMT) SLAM C++ classes (the library mrpt-hmtslam)