This past year, I’ve been enjoying explanations that are more rigorous. That is, things that are formalized.
It seems intimidating at first, but I really do think that they do wonders. I find Math more and more beautiful.
“Through the previous introduction, readers should have gained an intuitive understanding of the modules in a SLAM system and each module’s main functionality. However, we cannot write runnable programs only based on intuitive impressions. We want to raise it to a rational and rigorous level, using mathematical symbols to formulate a SLAM process”.