slam经典书籍 STATE ESTIMATION FOR ROBOTICS

国外大学slam领域经典教材。 “In this book, we introduce the classic estimation results for linear systems corrupted by Gaussian measurement noise. We then exam- ine some of the extensions to nonlinear systems with non-Gaussian noise. In a departure from typical estimation texts, we take a detailed look at how to tailor general estimation results to robots operating in three-dimensional space, advocating a particular approach to handling rotations.”