# gaoxiang12/slambook2

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6,530 stars · 2,174 forks · C++ · MIT

## Links

- GitHub: https://github.com/gaoxiang12/slambook2
- awesome-repositories: https://awesome-repositories.com/repository/gaoxiang12-slambook2.md

## Description

This project is a set of exercise solutions and implementation guides for visual simultaneous localization and mapping. It provides a collection of worked code examples and mathematical solutions designed to translate theoretical localization and mapping concepts into practical implementations.

The repository serves as a technical companion for academic study, featuring worked answers to SLAM exercises and a system for tracking typographical and technical corrections to maintain the accuracy of the associated written work.

The codebase covers spatial mathematics and robotics geometry, including the use of Lie groups and algebras for numerically stable rotations and translations. It implements coordinate frame transformations and linear algebra tools for solving the equations necessary to determine spatial coordinates and state variables.

## Tags

### Hardware & IoT

- [Visual SLAM Implementations](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/localization-mapping/slam-algorithms/visual-slam-implementations.md) — Implements a complete visual SLAM pipeline for spatial representation of environments.
- [SLAM Algorithms](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/localization-mapping/slam-algorithms.md) — Implements simultaneous localization and mapping algorithms for environmental reconstruction. ([source](https://github.com/gaoxiang12/slambook2/blob/master/slambook2_%E7%AC%94%E8%AE%B0.docx))

### Part of an Awesome List

- [SLAM Theoretical Foundations](https://awesome-repositories.com/f/awesome-lists/devtools/slam-and-mapping/slam-theoretical-foundations.md) — Provides educational materials on the theoretical and mathematical foundations of SLAM.

### Education & Learning Resources

- [Algorithm Implementation Exercises](https://awesome-repositories.com/f/education-learning-resources/algorithm-implementation-exercises.md) — Provides worked code examples and practical implementations to demonstrate theoretical mapping algorithms.
- [Implementation Guides](https://awesome-repositories.com/f/education-learning-resources/educational-resources/algorithms-theory-academics/algorithm-data-structure-guides/algorithm-guides/implementation-guides.md) — Provides technical implementation guides that bridge theoretical SLAM mathematical models with concrete code examples.
- [Exercise Solutions](https://awesome-repositories.com/f/education-learning-resources/exercise-solutions.md) — Provides worked answers and implementation examples for theoretical localization and mapping exercises.
- [Practical Application Exercises](https://awesome-repositories.com/f/education-learning-resources/problem-solving-guides/practical-application-exercises.md) — Provides worked solutions and implementation guides for complex localization and mapping problems. ([source](https://github.com/gaoxiang12/slambook2/blob/master/slambook2_%E4%B9%A0%E9%A2%98%E8%A7%A3%E7%AD%94.docx))

### Scientific & Mathematical Computing

- [Coordinate Transformations](https://awesome-repositories.com/f/scientific-mathematical-computing/coordinate-transformations.md) — Converts points and orientations between different 3D coordinate reference frames. ([source](https://github.com/gaoxiang12/slambook2/blob/master/coordinateTransform))
- [Lie Group Operations](https://awesome-repositories.com/f/scientific-mathematical-computing/high-performance-execution-environments/scientific-computing-platforms/scientific-computing/matrix-operations/matrix-vector-products/spatial-vector-and-matrix-operations/lie-group-operations.md) — Computes numerically stable 3D rotations and translations using special orthogonal and Euclidean groups.
- [Kinematic Coordinate Frames](https://awesome-repositories.com/f/scientific-mathematical-computing/kinematic-coordinate-frames.md) — Implements spatial transformations and rotations between reference frames for robotic positioning.
- [Lie Group Algebra](https://awesome-repositories.com/f/scientific-mathematical-computing/lie-group-algebra.md) — Applies Lie group theory for numerically stable 3D rotations and translations.
- [Geometric Transformation Routines](https://awesome-repositories.com/f/scientific-mathematical-computing/linear-algebra-routines/geometric-transformation-routines.md) — Performs rotations and translations using linear algebra to define 3D orientation. ([source](https://github.com/gaoxiang12/slambook2/blob/master/eigenGeometry))
- [Linear Algebra Libraries](https://awesome-repositories.com/f/scientific-mathematical-computing/linear-algebra-libraries.md) — Implements linear algebra tools to solve systems of equations for spatial coordinates.
- [Linear Algebra Routines](https://awesome-repositories.com/f/scientific-mathematical-computing/linear-algebra-routines.md) — Uses linear algebra primitives to determine spatial coordinates in mapping applications.
- [Linear System Solvers](https://awesome-repositories.com/f/scientific-mathematical-computing/linear-algebra-routines/distributed-linear-system-solving/linear-system-solvers.md) — Computes solutions for systems of linear equations to determine spatial state variables. ([source](https://github.com/gaoxiang12/slambook2/blob/master/linearEqSolution))