Computer Vision Primer
Visual-SLAM Primer — How a Camera Learns "Where Am I"
With no GPS and no map, a robot can still find its own position and build a map of its surroundings from camera images alone. From feature tracking through epipolar geometry, the difference between Visual Odometry and SLAM, the lineage of landmark algorithms from ORB-SLAM to LSD-SLAM and DSO, and Bundle Adjustment, a systematic ground-up tour of how Visual-SLAM actually works.