Chapter 4: Deployment of SLAM
4.1 Objectives
4.2 Available datasets
4.4 Available SLAM approaches
4.4.1 Optimization-based (one example for each)
4.4.2 Filter-based
4.4.3 Loosely coupled
4.4.4 Tightly coupled
4.4.5 Deep learning-based
4.5 Deploying a camera-IMU SLAM
4.5.1 A camera-IMU odom method using a SMARTNav bag file
4.5.2 Odom + loop closure
4.5.3 Parameter tuning
4.6 Deploying a LiDAR-IMU SLAM
4.6.1 Running FASTLIO
4.6.2 Running GLIM or Lego-LOAM
4.6.3 Parameters
4.7 Practical consideration
4.7.1 Processing unit
4.7.2 Standalone or ROS-based
4.7.3 QoS in ROS
4.7.4 Being real-time and low delay
4.7.5 Using in control loops