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    SLAM in Autonomous Driving Book

    SLAM in Autonomous Driving Book

    SLAM Technology in Autonomous Driving

    SLAM in Autonomous Driving Book is the open-source code companion to the book SLAM in Autonomous Driving. It focuses on localization and mapping systems that combine LiDAR, IMU, GNSS, and vehicle motion data. The material begins with geometry, kinematics, Kalman filtering, inertial navigation, preintegration, and graph optimization. It then implements point-cloud processing, nearest-neighbor structures, ICP, NDT, scan matching, occupancy grids, and loop closure. Readers build both loosely coupled and tightly coupled LiDAR-inertial odometry systems. ...
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