# Essentials of 3D Reconstruction for Visual SLAM: A Beginner's Handbook
## Introduction
- [Introduction](/UlgB_NcwRxm01ZMi2NY3Fg)
## Single-view Geometry
- [Camera Introduction](/8y0Ez6DVSOy5TeL_LFWw9w)
- [Camera Calibration](/o0UqmikhQdKBHLiaY5FV-Q)
- [Camera Models (TODO)](/I2EeEnKSSW6606aA1Gkdcg)
- [Image Transformation](/U5Mg1QQMSb-DU3gCzxhn-Q)
- [Single-view Metrology](/Pn3vAtLXTjazJcdYfPwNgQ)
- [Perspective-n-Points / PnP Problem](/XoqLoirfTHmv0RN7n9e-Cw)
## Two-view Geometry
- [Homography Transformation](/UOW4nBmxT5CTILq3nZoNzw)
- [Epipolar geometry](/emuCyxF8QQiGdeZkvmpj3g)
- [Triangulation](/mrBvdst4SyiRvc68LK5qnA)
- [Rectification](/JiD6DDCiRIa82tKACjD1CA)
## Multi-view Geometry
- [Structure from Motion](/DMdTrMVBSdyXhk5GsNSXtg)
- [Incremental Structure from Motion (TODO)](/UAXN-E6XR3CQIyCsJy5TZg)
- [Optimization (Pose-Graph Optimization & Bundle Adjustment) (TODO)](/LUFb7qD_SD29kD_X02KTFg)
## Visual SLAM
- [Visual Odometry](/we7hocqTTOixuLFNE_Dy8g)
- [Visual SLAM Introduction (TODO)](/Rrvv06ODQYi_XuhgUHRD-g)
- [Bag of Words (TODO)](/PQeDGzNESySUPKnTr_Fs7Q)
- [Loop Closure (TODO)](/ngyw6zhSR8KPzwncjrB3dg)
- [ORB-SLAM (TODO)](/StzaL8ZoR-2l0Y53lXVviA)
- [Graph-based SLAM (TODO)](/AfUZYFlSTZusj44k7GshmQ)
- [EKF-based SLAM (TODO)](/vM-ld_drT9qEPJnUltEkUw)
## Prerequisite Math Knowledge
- [Least Square Solutions](/V0CbttFVTlGdfd2Feb2w5g)
- [Covariance Matrix (TODO)](/6v2BAqXsSceFQc7ABoqjjQ)
- [Principal Component Analysis (PCA) (TODO)](/IVVS1bAWRsCbbvSIaGSlyg)
- [Singular Value Decomposition (TODO)](/86obEnjVRt-Pd9oRvW4Sfw)
- [RANSAC (TODO)](/6DtvZNO9RJqXrFtQpA4n-g)
- [Non-linear Optimization (TODO)](/CQVEK_egRJaqr6hIO_p-TQ)
- [Lie Algebra](/rMbiZ-WXQielcNwNH_o8aA)
- [Quaternion](/8EWI8vInSjKnaPC_g9YerA)
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