Table of Contents

• Chapter 2: First Glance at Visual SLAM
• Chapter 3: 3D Rigid Body Motion
  • Rotation Matrix
  • Rotation Vector and Euler Angle
  • Quaternions
  • Affine and Projective Transformation
• Chapter 4: Lie Group and Lie Algebra
  • Basics of Lie Group and Lie Algebra
  • Exponential and Logarithmic Mapping

• Chapter 7: Visual Odometry: Feature Point

  • Feature Point
  • ORB Feature

  • Feature Matching

  • Calculate Camera Motion

    • 2D-2D: epipolar geometry
    • 3D-2D: PnP
    • 3D-3D: ICP