# SLAM

Simultaneous Location and Mapping

November 25, 2014 — April 28, 2022

Classic robotics problem: reconstruct a scene by moving a camera about the room.

In practice, often boils down to a least squares inference problem, or more generally a Gaussian Belief propagation inference problem.

## 1 NICE-SLAM

I am interested in a recent technique that combines implicit representation with SLAM (Zhu et al. 2022).

There are many cool tricks combined there — differentiable rendering etc. Hierarchical implicit representations.

## 2 Tools

### 2.1 jaxfg

### 2.2 gradslam

Differentiable GPB solver (Jatavallabhula, Iyer, and Paull 2020).

### 2.3 ceres solver

ceres-solver, (C++), the google least squares solver, seems to solve this kind of problem. I am not sure where the covariance matrices go in. I occasionally see mention of “CUDA” in the source repo so maybe it exploits GPUs these days.

### 2.4 Incoming

## 3 References

*arXiv:1910.14139 [Cs]*.

*IEEE Transactions on Robotics*.

*2020 IEEE International Conference on Robotics and Automation (ICRA)*.