SLAM Handbook Public Release

Together with a large number of experts in Simultaneous Localization and Mapping (SLAM) we are preparing the SLAM Handbook, covering 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, we will incrementally release the other parts to accommodate feedback from the public. Please use this repository's issue and discussion board to report any issues or ideas regarding this book.

Part 1 Release (Nov 2024)

• Chapter1: Prelude
• Chapter2: Factor Graphs for SLAM
• Chapter3: Advanced State Variable Representations
• Chapter4: Robustness to Incorrect Data Association and Outliers
• Chapter5: Differentiable Optimization
• Chapter6: Dense Map Representation
• Chapter7: Theoretical Properties (TBD)

Part 2 Release (TBD)

• Chapter8: Visual SLAM
• Chapter9: LiDAR SLAM
• Chapter10: Radar SLAM
• Chapter11: Event-based SLAM
• Chapter12: Inertial Odometry for SLAM
• Chapter13: Leg Odometry for SLAM

Part 3 Release (TBD)

• Chapter14: Spatial AI
• Chapter15: Boosting SLAM with Deep Learning
• Chapter16: NeRF and GS
• Chapter17: Dynamic and Deformable SLAM
• Chapter18: Metric-Semantic SLAM
• Chapter19: Foundation Models for SLAM

Contributors of the Book (in an alphabetical order by their last name)

We deeply appreciate your contribution to this book!

Henrik Andreasson
Arash Asgharivaskasi
Nikolay Atanasov
Timothy Barfoot
Jens Behley
Wolfram Burgard
Cesar Cadena
Marco Camurri
Luca Carlone
Yun Chang
Margarita Chli
Henrik Christensen
Giovanni Cioffi
Javier Civera
Daniel Cremers
Andy Davison
Frank Dellaert
Jia Deng
Kevin Doherty
Jacob Engel
Maurice Fallon
Guillermo Gallego
Cedric Le Gentil
Christoffer Heckman
Connor Holmes
Paul Huang
Shoudong Huang
Nathan Hughes
Krishna Murthy Jatavallabhula
Michael Kaess
Kasra Khosoussi
Giseop Kim
Ayoung Kim
John Leonard
Stefan Leutenegger
Lahav Lipson
Martin Magnusson
Joshua Mangelson
Hidenobu Matsuki
Matias Mattamala
José M Martínez Montiel
Mustafa Mukadam
Paul Newman
Helen Oleynikova
Lionel Ott
Marc Pollefeys
Victor Reijgwart
David Rosen
Davide Scaramuzza
Lukas Schmid
Jingnan Shi
Cyrill Stachniss
Niko Sunderhauf
Zach Teed
Teresa Vidal-Calleja
Chen Wang
Heng Yang
Fu Zhang
Ji Zhang
Shibo Zhao