Slam Robotics autonomous driving SLAMBOOK kalman filter Localization GPU Lie Group Lie algebra parallel programming CUDA Vision incremental Smoothing and Mapping ekf cnn rigid body motion IMU Preintegration iSAM2 GTSAM iSAM odometry Graph-Based SLAM Point Cloud Processing enkf KITTI convolution network SENet SegNet 3d object detection GoogLeNet EKF SLAM Matrix Multiplication object detection LiDAR computervision front-end YOLO 자율주행 imu parallel processing PNP 칼만필터 quaternion Gaussian transformation Computer Vision inception ros optimization perception segmentation sparse matrix Tesla attention P3P Accelerator Lie camera