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Chapter 3

Least Squares & Graph-based SLAM

Nonlinear least-squares estimation, the least-squares formulation of SLAM, and landmark graph-based SLAM.

  1. 3.1
    Nonlinear Least Squares

    Gauss–Newton, Levenberg–Marquardt, and the normal equations.

  2. 3.2
    Least-Squares SLAM

    Pose-graph constraints and global optimization of trajectories.

  3. 3.3
    Landmark Graph-based SLAM

    Joint pose + landmark graphs and information-matrix sparsity.