LearningLong-form study notes — written to make a topic stick, kept here so they’re useful to more than just me.Mapping & LocalizationFrom “odometry drifts, fixes correct it” to whiteboard-cold: Bayes filters, odometry sources, map representations, ICP/AMCL/fiducials, graph SLAM, and the robustness engineering production robots actually run.July 2026 · robotics · SLAM · state estimation