RVC3, RVC2, RVC1 ch. 6
General
- Navigating Mobile Robots (Where am I?, 1996) (archived) Borenstein, Everett and Feng, 1996 (free PDF); the 1994 version is in Michigan's Deep Blue repository
- RatSLAM Milford & Wyeth, a navigation system modelled on the rodent hippocampus; open-source version by David Ball
- SLAM techniques and algorithms (archived) Jack Collier
- A comparison of data association techniques for simultaneous localization and mapping Aron Cooper, Masters thesis, MIT, 2005
- C4B Mobile Robotics Paul Newman's Oxford lecture notes (free ebook)
SLAM
- SLAM for Dummies Riisgaard and Blas, MIT course project
- Simultaneous localization and mapping: part I Durrant-Whyte and Bailey, IEEE RAM 13(2)
- Simultaneous localization and mapping: part 2 Bailey and Durrant-Whyte, IEEE RAM 13(3)
- Giorgio Grisetti's home page GMapping, TORO, g2o and more
- Tim Bailey's home page SLAM tutorials and software
Kalman filter
- A new approach to linear filtering and prediction problems Kalman (the paper!)
- Kalman filter home page (archived) Welch and Bishop
- Understanding the basics of the Kalman filter via a simple and intuitive derivation Faragher
- EKF covariance update for a new landmark a note on the derivation
Particle filter
- Particle filter made simple: a step-by-step beginner-friendly guide arXiv 2025
- Particle Filter Theory and Practice with Positioning
- A brief introduction to Particle Filters (archived) Pfeiffer
- Particle filters Theory and Practice with Positioning Applications Gustafsson
- A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking Arulampalam, IEEE Signal Processing Magazine 2002
- Sequential Monte Carlo methods & Particle Filter Resources Arnaud Doucet
Software
- KFilter C++ extended Kalman filter library
- SLAM toolbox for MATLAB Joan Solà; EKF-SLAM in 2D and 3D, including 6-DOF visual SLAM
- pykalman Kalman filter, smoother and EM algorithm in Python
- Carmen robot navigation toolkit
- OpenSLAM.org
- Planar SLAM CAS Robot Navigation Toolbox (archived)
- CSM, the Canonical Scan Matcher (includes PLICP) Andrea Censi
- Cartographer real-time 2D and 3D SLAM (Google)
- FLANN fast approximate nearest-neighbour search
- ProSLAM stereo visual SLAM
- Factor graphs and GTSAM a hands-on introduction
- GMapping grid-based SLAM with particle filters (OpenSLAM)
- Hector SLAM ROS package
GPS
- GPS.gov: how the system works
- Live position of GPS satellites US Federal Aviation Administration
- GPS constellation status US Coast Guard Navigation Center
- GPS info from Navigation Center (US Coast Guard)
- How to fool a GPS (TEDx talk) Todd Humphreys on the future of GPS and GPS spoofing
- NOAA publications
- Effect of builtup environment on GPS accuracy
Hyperbolic navigation systems
- GEE the WW2 era radio localization system
- DECCA Navigator a 1950s era commercial radio localization system
- LORAN-C as used for maritime and general aviation