slambook2

Learning SLAM!

Fundamental Math

• 3D Rigid Body Motion: rotation matrices, euler angles, quaternions, gimbal lock, homogenous coordinates, Rodriguez
• Lie Group and Lie Algebra: SO(3), SE(3), exponential map, logarithmic map

Reading for Lie Groups and Lie Algebra

Status

Mar 23: running into too many porting issues on macOS for the code samples. Will revisit slambook this summer, once I am able to dual boot Linux. Back to the basics for now.