Notes
This page contains an ongoing collection of notes, slides, and derivations related to SLAM and state estimation that I’ve created for my own reference.
SLAM Sensor Models and Jacobian Derivations
A collection of useful derivations related to sensor models commonly found in robotic state estimation. (last updated: March 14th, 2025)
View PDFThe Sliding Window Filter
Derivation of a common optimization-based approach to real-time state estimation. (last updated: November 24th, 2025)
View PDFInertial Navigation: IMU Modelling, Kinematics, and Preintegration
Derivations related to inertial navigation, including preintegration on the group of extended poses (last updated: December 1st, 2025)
View PDFLie Groups Summary
A summary doc containing some important concepts related to Lie groups. Based heavily on "A Micro Lie Theory for State Estimation in Robotics", by Joan Solà, Jeremie Deray and Dinesh Atchuthan. (last updated: August 11th, 2025)
View PDFIntroduction to the Multi-State Contraint Kalman Filter
Slides outlining the main components of the MSCKF framework for visual-inertial navigation.
View PDF