http://www.zhimengzhe.com/bianchengjiaocheng/cbiancheng/316949.html对代码有一定的解释
对vins讲解的又详细了一点
http://www.cnblogs.com/shang-slam/p/7081923.html
vins公式推导
http://www.cnblogs.com/buxiaoyi/p/7353353.html
调试ros_vins
http://blog.csdn.net/snnily/article/details/72991139
imu_tk
imu内参标定工具:
https://bitbucket.org/alberto_pretto/imu_tk/overview
ORB-SLAM跑通笔记本摄像头
http://www.cnblogs.com/shang-slam/p/6733322.html