| Introduction to Visual SLAM |
Xiang Gao et al. |
VO, optimization, Lie algebra, backend, loop closure — best entry-level SLAM book |
| Photogrammetric Computer Vision |
Wolfgang Förstner & Bernhard Wrobel |
Camera geometry, estimation, 3D reconstruction — mathematically rigorous |
| Multiple View Geometry in Computer Vision |
Richard Hartley & Andrew Zisserman |
Epipolar geometry, trifocal tensor, reconstruction — THE bible |
| Computer Vision: Algorithms and Applications |
Richard Szeliski |
Feature detection, stereo, motion, 3D — comprehensive reference (2nd ed. free PDF) |
| State Estimation for Robotics |
Timothy Barfoot |
Estimation theory, Lie groups, batch/recursive estimation — free PDF (2nd ed.) |
| Probabilistic Robotics |
Thrun, Burgard & Fox |
Bayes filters, EKF/particle-filter SLAM — the classical probabilistic foundation |
| Factor Graphs for Robot Perception |
Frank Dellaert & Michael Kaess |
Factor graphs, elimination, iSAM2 — the backend bible (free PDF) |
| SLAM Handbook |
Carlone, Kim, Barfoot, Cremers, Dellaert (eds.) |
From localization and mapping to spatial intelligence — free community book (2024-25) |