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The book 3D Robotic Mapping by Andreas Nüchter represents an excellent reference for any roboticist working in the area of Simultaneous Localization and Mapping, especially those interested in 3D map building. Throughout its 8 chapters, the reader is first introduced with the basic concepts of 3D data perception and sensor devices, followed by more advanced topics such as 3D range image registration and global loop closure for SLAM systems. Additionally, several higher level semantic interpretation methods are presented and evaluated for the purpose of scene and object localization. The theoretical methods presented in the book are solid and anchored in multiple real world experiments. The book’s intended target audience is large, ranging from undergraduate students to postdoctoral researchers keen on learning or working on this topic. By providing the underlying mathematical explanations and proofs for the 3D geometric problems tackled, the reader is most of the time given the complete information required to understand and even implement the presented concepts. The added advantage of this compact formulation is that one doesn’t need

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Andreas Nüchter (2009): 3D Robotic Mapping: The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom (Springer Tracts in Advanced Robotics 52)