Simultaneous Localization and Mapping (SLAM) for beginners: the basics


For those who are new into mobile robotics and want a gentle introduction, I recommend the following online resources:

  • This course by Dr. Jürgen Sturm (TUM, 2013):

Papers and books

  • The current must-read SLAM survey paper (2020-2021): Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., … & Leonard, J. J. (2016). Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age. IEEE Transactions on robotics, 32(6), 1309-1332. (PDF)

  • Our SLAM book, for those who want a rigorous treatment of all probabilistic equations in modern mobile robotics (~2012): “Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods” (Fernández-Madrigal, J.A. and Blanco, J.L., 2012).

  • About EKF-based SLAM with landmark maps (the trend between 1999 and ~2010, outdated nowadays):

    • Hugh Durrant-Whyte & Tim Bailey. “Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms“, (2006) (PDF)

    • Tim Bailey & Hugh Durrant-Whyte and . “Simultaneous Localisation and Mapping (SLAM): Part II State of the Art“, (2006) (PDF)

  • An excellent introductory/advanced book (for everything up to ~2005): Probabilistic Robotics, by Sebastian Thrun, Wolfram Burgard and Dieter Fox.