slambook-en VS pytagmapper

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.

This functionality is implemented in my python project https://github.com/markisus/pytagmapper

If you go with fiducials, I'd like to plug my own python project https://github.com/markisus/pytagmapper which lets you pre-build a map using aruco tags.

See the demo page for example applications of inside out tracking and virtual metrology.

https://github.com/markisus/pytagmapper/blob/main/DEMO.md

Uploaded an inside out tracking demo https://github.com/markisus/pytagmapper/blob/main/DEMO.md

If you are still looking for an implementation in python, here's a simple one called pytagmapper https://github.com/markisus/pytagmapper/blob/main/DEMO.md I just released that operates on fiducial tags like AprilTag or ArUco. It uses some modern techniques like manifold optimization on SE2 and SE3 (see https://arxiv.org/abs/1812.01537 for an introduction) as well as gaussian belief propagation (see https://gaussianbp.github.io/) instead of EKF.