OptimizationInSLAM

This is an introduction to the optimization methods used in SLAM problems.

Table of contents

1. Introduction
2. How to formulate SLAM as an optimization problem?
   2.1. How to take derivative on rotation
   2.2. How to construct the objective function?
3. Methods of solving this problem.
   3.1. Gauss-Newton method and levenberg-marquardt method.
   3.2. How to initialize the information matrix?
   3.3. How does the information matrix varies through time frame?
4. Sliding window method.
   4.1. How does sliding window help in this task?
   4.2. How to marginalize the distribution.