A clear documentation is needed

[JaySlamer]

Links to related papers in readme are down. However, somehow I manage to download the Tsotso irca 2015 paper. It turned out to be the most confusing and painful slam paper I have ever read. At the beginning, it introduces some weird notations. For example, it use g to stand for imu pose and γ to stand for gravity. For a person who comes from graph optimization and MSCKF backgroud, its like pointing to an apple and call it a pear. After a few minutes, I finally get used to them. However, the worst part is yet to come. The paper uses letter x and its all kinds of variants to stand for lots of things as if its the only letter in english alphabet, which gives my brain a lot of pain. The explaination of what those xs means are too short and not clear enough to me(maybe because english is my third language and I am not familiar with the papers notation convention) and its hard to remmember which one of them means what when I look at the xs in the equations. After several times of trying, i just gave up. I have read tons of SLAM papers and would argue a SLAM paper shouldnt be this difficult to read. its like reading a 19 century german philosophy book. If someone could choose a better set of notations and rewrite a explaination of this algorithm, i would appriciate it.

[stephanietsuei]

I will do my best, as I was in your position as a new grad student a few years ago and therefore have notes that can become documentation. However, we are not a big group and our priority is research, so please be patient with me.

[poudyalbot]

I think with all the beautiful pics and explanation it becomes helpful for us beginners to read and have a simple overview but when it comes to reading equation it is very hard to get used to notation from other Slam papers like openvins and I think slam being a mathematics heavy topic becomes out of grasp for an average aspiring engineering graduate especially for students of economically backward country where online forum and article is the only source of information and you have no one around to go to. For me personally it has not only been about this paper but other Slam papers too.
Can anyone suggest how to improve on this