[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"project-73764":3},{"id":4,"name":5,"fullName":6,"owner":7,"repo":5,"description":8,"homepage":9,"htmlUrl":9,"language":10,"languages":9,"totalLinesOfCode":9,"stars":11,"forks":12,"watchers":13,"openIssues":14,"contributorsCount":15,"subscribersCount":15,"size":15,"stars1d":16,"stars7d":17,"stars30d":18,"stars90d":15,"forks30d":15,"starsTrendScore":19,"compositeScore":20,"rankGlobal":9,"rankLanguage":9,"license":9,"archived":21,"fork":21,"defaultBranch":22,"hasWiki":21,"hasPages":21,"topics":23,"createdAt":9,"pushedAt":9,"updatedAt":24,"readmeContent":25,"aiSummary":26,"trendingCount":15,"starSnapshotCount":15,"syncStatus":27,"lastSyncTime":28,"discoverSource":29},73764,"slam-handbook-public-release","SLAM-Handbook-contributors\u002Fslam-handbook-public-release","SLAM-Handbook-contributors","Release repo for our SLAM Handbook",null,"TeX",4534,298,119,11,0,4,22,57,12,29.43,false,"main",[],"2026-06-12 02:03:17","# SLAM Handbook Public Release\n\nTogether with a large number of experts in Simultaneous Localization and Mapping (SLAM) we are preparing the **SLAM Handbook** to be published by Cambridge University Press. This book will cover the theoretical background of SLAM, its applications, and its future as spatial AI. We expect this handbook will be a good guideline for those working in this field. \n\nStarting from the release of Part 1 in November 2024, Part 2 in March 2025, and Part 3 in May 2025, we have incrementally released the book to accommodate feedback from the public. Please use this repository's **issue** and **discussion** boards to report any issues or ideas regarding this book.\n\n## How to Cite this Book?\nPlease cite it as a book chapter. You can find the specific bibliography entry for each chapter by clicking the dropdown menu below.\n\n\n### Part 1: Foundations of SLAM\n\n\u003Cdetails>\u003Csummary>Part 1 Prelude\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-p1-prelude,\n  title        = {Part1 Prelude},\n  author       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n``` \n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter1: Factor Graphs for SLAM\u003C\u002Fsummary>\n\n```bibtex\n@incollection{sh-ch1-fg4slam,\n  title        = {Factor Graphs for {SLAM}},\n  author       = {Frank Dellaert and Michael Kaess and Timothy Barfoot},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter2: Advanced State Variable Representations\u003C\u002Fsummary>\n\n```bibtex\n@incollection{sh-ch2-state,\n  title        = {Advanced State Variable Representations},\n  author       = {Timothy Barfoot and Frank Dellaert and Michael Kaess and Jose Luis Blanco-Claraco},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter3: Robustness to Incorrect Data Association and Outliers\u003C\u002Fsummary>\n\n```bibtex\n@incollection{sh-ch3-outlier,\n  title        = {Robustness to Incorrect Data Association and Outliers},\n  author       = {Heng Yang and Josh Mangelson and Yun Chang and Jingnan Shi and Luca Carlone},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter4: Differentiable Optimization\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch4-diffopt,\n  title        = {Differentiable Optimization},\n  author       = {Chen Wang and Krishna Murthy Jatavallabhula and Mustafa Mukadam},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter5: Dense Map Representation\u003C\u002Fsummary>\n\n```bibtex\n@incollection{sh-ch5-map,\n  title        = {Dense Map Representation},\n  author       = {Victor Reijgwart and Jens Behley and Teresa Vidal-Calleja and Helen Oleynikova and Lionel Ott and Cyrill Stachniss and Ayoung Kim},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter6: Theoretical Properties\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch6-theory,\n  title        = {Certifiably Optimal Solvers and Theoretical Properties of {SLAM}},\n  author       = {David M. Rosen and Kasra Khosoussi and Connor Holmes and Gamini Dissanayake and Timothy Barfoot and Luca Carlone},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\n### Part 2: SLAM in Practice\n\u003Cdetails>\u003Csummary>Part 2 Prelude\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-p2-prelude,\n  title        = {Part 2 Prelude},\n  author       = {Ayoung Kim and Timothy Barfoot and Luca Carlone and Frank Dellaert and Daniel Cremers},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter7: Visual SLAM\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch7-vision,\n  title        = {Visual {SLAM}},\n  author       = {Jakob Engel and Juan D. Tard{\\'o}s and Javier Civera and Margarita Chli and Stefan Leutenegger and Frank Dellaert and Daniel Cremers},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n  \n\u003Cdetails>\u003Csummary>Chapter8: LiDAR SLAM\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch8-lidar,\n  title        = {{LiDAR SLAM}},\n  author       = {Jens Behley and Maurice Fallon and Shibo Zhao and Giseop Kim and Ji Zhang and Fu Zhang and Ayoung Kim},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter9: Radar SLAM\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch9-radar,\n  title        = {Radar {SLAM}},\n  author       = {Martin Magnusson and Christoffer Heckman and Henrik Andreasson and Ayoung Kim and Timothy Barfoot and Michael Kaess and Paul Newman},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter10: Event-based SLAM\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch10-event,\n  title        = {Event-based {SLAM}},\n  author       = {Guillermo Gallego and Javier Hidalgo-Carri{\\'o} and Davide Scaramuzza},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter11: Inertial Odometry for SLAM\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch11-imu,\n  title        = {Inertial Odometry for {SLAM}},\n  author       = {Guoquan (Paul) Huang and C{\\'e}dric Le Gentil and Teresa Vidal-Calleja and Davide Scaramuzza and Frank Dellaert and Luca Carlone},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter12: Leg Odometry for SLAM\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch12-proprio,\n  title        = {Leg Odometry for {SLAM}},\n  author       = {Marco Camurri and Mat{\\'ı}as Mattamala},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n``` \n\u003C\u002Fdetails>\n\n### Part 3: From SLAM to Spatial AI\n\n\u003Cdetails>\u003Csummary>Part 3 Prelude\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-p3-prelude,\n  title        = {Part3 Prelude},\n  author       = {Marc Pollefeys and Luca Carlone and Ayoung Kim and Frank Dellaert and Timothy Barfoot and Daniel Cremers},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter13: Boosting SLAM with Deep Learning\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch13-dl4slam,\n  title        = {Boosting {SLAM} with Deep Learning},\n  author       = {Zachary Teed and Jia Deng, Boris Chidlovskii and J{\\'e}rome Revaud and Felix Wimbauer and Daniel Cremers},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n \n\u003Cdetails>\u003Csummary>Chapter14: Map Representations with Differentiable Volume Rendering\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch14-nerfgs,\n  title        = {Map Representations with Differentiable Volume Rendering},\n  author       = {Hidenobu Matsuki and Andrew J. Davison},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter15: Dynamic and Deformable SLAM\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch15-dyndef,\n  title        = {Dynamic and Deformable {SLAM}},\n  author       = {Lukas Schmid and Jos{\\'e} Mar{\\'i}a Mart{\\'i}nez Montiel and Shoudong Huang and Daniel Cremers and Jos{\\'e} Neira and Javier Civera},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter16: Metric-Semantic SLAM\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch16-semantic,\n  title        = {Metric-Semantic {SLAM}},\n  author       = {Arash Asgharivaskasi and Kevin Doherty and Jens Behley and Nathan Hughes and Yun Chang and John Leonard and Henrik I. Christensen and Luca Carlone and Nikolay Atanasov},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter17: Towards Open-World Spatial AI\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch17-openworld,\n  title        = {Towards Open-World Spatial {AI}},\n  author       = {Liam Paull and Sacha Morin and Dominic Maggio and Martin B{\\\"u}chner and Cesar Cadena and Abhinav Valada and Luca Carlone},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n```\n\n\u003C\u002Fdetails>\n\n\u003Cdetails>\u003Csummary>Chapter18: The Computational Structure of Spatial AI Systems\u003C\u002Fsummary>\n  \n```bibtex\n@incollection{sh-ch18-spatial-ai,\n  title        = {The Computational Structure of Spatial {AI} Systems},\n  author       = {Andrew J. Davison},\n  booktitle    = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  publisher    = {Cambridge University Press},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  year         = {2026}\n}\n``` \n\u003C\u002Fdetails>\n\n### To cite it as a book\n\nIf you need to cite it as a book, use the following bib.\n\n\u003Cdetails>\u003Csummary>SLAM Handbook Bib\u003C\u002Fsummary>\n  \n```bibtex\n@book{slam-handbook,\n  title        = {{SLAM Handbook.} From Localization and Mapping to Spatial Intelligence},\n  editor       = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},\n  publisher    = {Cambridge University Press},\n  year         = {2026}\n}\n``` \n\u003C\u002Fdetails>\n\n\n## Contributors of the Book\n\nWe deeply appreciate your contribution to this book!\n(in alphabetical order by their last name)\n\nHenrik Andreasson  \nArash Asgharivaskasi  \nNikolay Atanasov  \nTimothy Barfoot  \nJens Behley  \nJose Luis Blanco-Claraco  \nMartin Büchner  \nCesar Cadena  \nMarco Camurri  \nLuca Carlone  \nYun Chang  \nBoris Chidlovskii  \nMargarita Chli  \nHenrik Christensen  \nJavier Civera  \nDaniel Cremers  \nAndrew J. Davison  \nFrank Dellaert  \nJia Deng  \nGamini Dissanayake  \nKevin Doherty  \nJakob Engel  \nMaurice Fallon  \nGuillermo Gallego  \nCédric Le Gentil  \nChristoffer Heckman  \nJavier Hidalgo-Carrió  \nConnor Holmes  \nGuoquan Huang  \nShoudong Huang  \nNathan Hughes  \nKrishna Murthy Jatavallabhula  \nMichael Kaess  \nKasra Khosoussi  \nAyoung Kim  \nGiseop Kim  \nJohn Leonard  \nStefan Leutenegger  \nDominic Maggio  \nMartin Magnusson  \nJoshua Mangelson  \nHidenobu Matsuki  \nMatias Mattamala  \nJosé M Martínez Montiel   \nSacha Morin  \nMustafa Mukadam  \nJose Neira  \nPaul Newman  \nHelen Oleynikova  \nLionel Ott  \nLiam Paull  \nMarc Pollefeys  \nVictor Reijgwart  \nJerome Revaud  \nDavid Rosen  \nDavide Scaramuzza  \nLukas Schmid  \nJingnan Shi  \nCyrill Stachniss  \nNiko Sunderhauf  \nJuan D. Tardós  \nZachary Teed  \nAbhinav Valada  \nTeresa Vidal-Calleja  \nChen Wang  \nFelix Wimbauer  \nHeng Yang  \nFu Zhang  \nJi Zhang  \nShibo Zhao  \n","SLAM Handbook Public Release 是一个旨在发布《SLAM 手册》的项目，该手册由众多 SLAM 领域专家共同编写，并计划由剑桥大学出版社出版。该项目的核心功能包括提供 SLAM 的理论背景、应用案例及未来展望等内容，采用 TeX 语言编写以确保高质量的排版效果。通过逐步公开并收集反馈的方式（如第一部分于2024年11月发布），项目团队希望为从事 SLAM 研究与开发的专业人士提供一份全面且实用的指南。此资源适用于任何希望深入了解或研究 SLAM 技术及其在空间人工智能中应用的研究者、工程师以及学生。",2,"2026-06-11 03:47:15","high_star"]