SLAM from Scratch

The Spark

I have never written a SLAM system. I have never done multi-view geometry. I have never written serious C++. All three at once. This is the project where I learn all of it by building the thing.

The pipeline: camera calibration, feature extraction, descriptor matching, essential matrix decomposition, triangulation, bundle adjustment, loop closure, pose graph optimization. Each piece requires theory I don't have yet. Epipolar geometry, Lie groups for SE(3), nonlinear least squares, factor graphs. I need to learn the maths, implement it in C++, and make each component actually work before moving to the next.

This is not a week-long notebook. It runs for months. No schedule. Entries logged whenever I make progress on a piece. Some weeks that might be three entries. Some weeks zero.