SLAM学习资料存档，包括SLAM基础理论、卡尔曼滤波、组合导航等。

SLAM基础理论

书籍

1. 《视觉SLAM十四讲》
2. 《自动驾驶中的SLAM技术》
3. Factor graphs for robot perception
4. A tutorial on SE(3) transformation parameterizations and on-manifold optimization
5. A micro Lie theory for state estimation in robotics
6. Quaternion kinematics for the error-state Kalman filter
7. Probabilistic Robotics
8. State Estimation for Robotics – First Edition
9. State Estimation for Robotics – Draft Second Edition
10. SO(3) and SE(3) Identities and Approximations
11. Lie theory cheatsheet
12. Multiple view geometry in computer vision
13. Modern Robotics

GitHub

1. gaoxiang12/slambook
2. gaoxiang12/slambook2
3. gaoxiang12/slambook-en
4. gaoxiang12/slam_in_autonomous_driving
5. AlbertSlam/Lee-SLAM-source
6. jlblancoc/tutorial-se3-manifold
7. StevenCui/VIO-Doc
8. TurtleZhong/Map-based-Visual-Localization
9. PetWorm/IMU-Preintegration-Propogation-Doc
10. PetWorm/IMU_error_state_propagation_doc
11. norlab-ulaval/cheatsheet_LieAlgebra
12. jlblancoc/factor-graphs-course
13. gongbingg/slam
14. Joanna-HE/Supplementary-file-for-IKFoM
15. brytsknguyen/slict
16. ganlumomo/VisualInertialOdometry
17. brytsknguyen/oblam_deskew

公开课

1. 泡泡机器人
2. 深蓝学院
3. 自动驾驶之心
4. RI Seminar: Michael Kaess: Robust and Efficient Real-time Mapping for Autonomous Robots
5. Optimization-based Localization And Mapping-KTH

卡尔曼滤波

网站

1. Kalman Filter Tutorial
2. The Kalman Filter
3. An Introduction to the Kalman Filter
4. An Introduction to the Kalman Filter-SIGGRAPH 2001
5. Tutorial: The Kalman Filter
6. A Kalman Filtering Tutorial for Undergraduate Students
7. Extended Kalman Filter Tutorial
8. 卡尔曼滤波（Kalman Filter）原理与公式推导-涅索斯衬衫的文章-知乎
9. 卡尔曼滤波器（观测器）原理极简介绍-Invictus的文章-知乎
10. 简明ESKF推导-半闲居士的文章-知乎
11. slam中基于滤波的方法的问题及如何调参?-半闲居士的回答-知乎
12. LIO中ESKF相关公式的详尽说明-xiaotaw的文章-知乎
13. Computing Jacobian, why error state?——优化中为何对误差状态求导-邱笑晨的文章-知乎
14. 简单易懂(?)的误差状态卡尔曼滤波器(Error State Kalman Filter, ESKF)的原理与实现（一）原理简介-llo的文章-知乎
15. 简单易懂(?)的误差状态卡尔曼滤波器(Error State Kalman Filter, ESKF)的原理与实现（二）算法实现-llo的文章-知乎

GitHub

MATLAB

1. yuzhou42/MSCKF
2. alirezaahmadi/KalmanFilter-Vehicle-GNSS-INS
3. yuzhou42/ESKF-Attitude-Estimation

Python

1. rlabbe/filterpy
2. pykalman/pykalman
3. commaai/rednose
4. zziz/kalman-filter
5. enginBozkurt/Error-State-Extended-Kalman-Filter
6. diegoavillegasg/IMU-GNSS-Lidar-sensor-fusion-using-Extended-Kalman-Filter-for-State-Estimation
7. aipiano/ESEKF_IMU
8. soarbear/imu_ekf
9. jnez71/kalmaNN

C++

1. mherb/kalman
2. hmartiro/kalman-cpp
3. sfwa/ukf
4. hku-mars/IKFoM
5. xiahouzuoxin/kalman_filter
6. artivis/kalmanif
7. je310/ESKF
8. jeremyfix/easykf
9. pronenewbits/Embedded_EKF_Library
10. pronenewbits/Embedded_UKF_Library
11. OpenSLAM-org/openslam_MTK
12. xinyang-go/eskf
13. zha0ming1e/InEKF

组合导航

网站

1. 高精度捷联惯性导航算法
2. 卡尔曼滤波与组合导航原理【西北工业大学 严恭敏】
3. PSINS导航工具箱入门与详解【西北工业大学 严恭敏】
4. 简明预积分推导-半闲居士的文章-知乎

GitHub

1. LiZhengXiao99/Navigation-Learning
2. benzenemo/TightlyCoupledINSGNSS
3. yandld/nav_matlab
4. i2Nav-WHU/Wheel-SLAM
5. yuzhou42/GPS-INS-Integrated-Navigation
6. jayoungo/SINS-GPS-Integrated-Navigation

自动驾驶

网站

1. 无人驾驶领域，你推荐那些综述性文章？-王方浩的回答-知乎
2. Dig into Apollo
3. Apollo 开放平台
4. Algorithms for Automated Driving

GitHub

1. commaai/openpilot
2. ApolloAuto/apollo
3. autowarefoundation/autoware
4. daohu527/dig-into-apollo
5. OpenDriveLab/End-to-end-Autonomous-Driving
6. OpenDriveLab/Birds-eye-view-Perception
7. YannZyl/Apollo-Note
8. nwaysir/Autopilot-Updating-Notes
9. thomasfermi/Algorithms-for-Automated-Driving

参考

1. 《视觉SLAM学习过程所用资料总结》-行知SLAM的文章-知乎
2. 聊聊这两年学习slam啃过的书！-小凡的文章-知乎
3. 超全SLAM学习资源汇总-阿木实验室的文章-知乎
4. SLAM相关学习资料：综述/激光/视觉/数据集/常用库-菠萝包包包的文章-知乎
5. 李群和李代数——名字听起来很猛其实也没那么复杂-菠萝包包包的文章-知乎
6. Probabilistic Robotics
7. Tim Barfoot
8. Modern Robotics
9. 硕士研究生阶段如何学习slam机器人？-Range的回答-知乎
10. 严恭敏的个人主页