Visual SLAM Tutorials

The Basics

• 3D Rigid Body Motion
• Matrix Lie Group
• Cameras, Sensors and Projection Model
• Basic Image Processing, Features Detection and Matching

Visual SLAM Frontend

• Visual Odometry: Feature-based
• Visual Odometry: Direct Method
• Coding Session: Visual SLAM Frontend with OpenCV

Visual SLAM Backend

• Filtering-based Backend
• Factor Graph and Pose Graph Optimization
• Coding Session: Factor Graph with GTSAM and Ceres Solvers
• Loop Closure Detection: Why and How

Geometric Visual SLAM Systems

• ORB-SLAM, LSD-SLAM and SVO

Learning-based Feedforward Models

• DUSt3R, Mast3r and VGGT