Название: Introduction to Visual SLAM: From Theory to Practice
Автор: Xiang Gao, Tao Zhang
Издательство: Springer
Год: 2021
Формат: PDF
Страниц: 386
Размер: 10 Mb
Язык: English

This book offers a systematic and comprehensive introduction to the visual simultaneous localization and mapping (vSLAM) technology, which is a fundamental and essential component for many applications in robotics, wearable devices, and autonomous driving vehicles. The book starts from very basic mathematic background knowledge such as 3D rigid body geometry, the pinhole camera projection model, and nonlinear optimization techniques, before introducing readers to traditional computer vision topics like feature matching, optical flow, and bundle adjustment.