slambook-en VS ORB_SLAM

Looking at code repos is not an effective way to learn in my opinion. I highly recommend this open text book that has practical explained and many code examples https://github.com/gaoxiang12/slambook-en

According to a popular slam book(https://github.com/gaoxiang12/slambook-en/blob/master/slambook-en.pdf) this has to do with solving the Hx=g with schur trick and how row operations induce some implicit constraints during the marginalization step ( pg 211~213). However, I don't think I am getting the full picture here.

Hi, I work on a tangentially related topic and the best resource I've found so far is this book: https://github.com/gaoxiang12/slambook-en/blob/master/slambook-en.pdf. I went through some chapters only, but everything seems to be explained clearly and with code examples. Hope this helps!

I am trying to understand the Lie algebra for robotics and reading up this: https://github.com/gaoxiang12/slambook-en/blob/master/slambook-en.pdf

If you're wanting to learn how all this stuff works I highly recommend this open source book: https://github.com/gaoxiang12/slambook-en

Hey! I was in your shoes a couple months ago! The YouTube video that the_remainder posted is how I wrapped my mind around lie algebra, but in order for me to be able to use it effectively took going through the relevant chapter in the slambook (https://github.com/gaoxiang12/slambook-en)

Great book to learn slam https://github.com/gaoxiang12/slambook-en

https://github.com/gaoxiang12/slambook-en I would recommend this.

Hi Salih! I can give it a shot. Keep in mind that implementing ORB SLAM V1 is a lot of work, and the original implementation is quite well written and concise. That's not to say you shouldn't do it - it can be very educational! - it just may take some time.

The matched orb points are used for a motion only bundle adjustment solver. So given the 3D points and their 2D projections you can solve for the frames rotation and translation.(Code is right here ).