Vins-Mono完整版总结:https://www.zybuluo.com/Xiaobuyi/note/866099
参考文献
2 Solà J. Quaternion kinematics for the error-state KF[M]// Surface and Interface Analysis. 2015.
预积分的推导 https://www.cnblogs.com/buxiaoyi/p/7353353.html
VINS-Mono代码注释:https://github.com/gaochq/VINS-Mono/tree/comment
vins—mono详解: http://www.mamicode.com/info-detail-2258704.html
后端优化:https://blog.csdn.net/q597967420/article/details/76099443
边缘化:贺一家1:https://blog.csdn.net/heyijia0327/article/details/52822104
贺一家2DSO: https://blog.csdn.net/heyijia0327/article/details/53707261
https://blog.csdn.net/fuxingyin/article/details/53426068
BA:https://www.cnblogs.com/Jessica-jie/p/7739775.htm
https://blog.csdn.net/OptSolution/article/details/64442962
重投影误差:https://www.cnblogs.com/Jessica-jie/p/7242179.html
ceres 中文翻译:https://blog.csdn.net/wzheng92?t=1
https://blog.csdn.net/huajun998/article/list/2?t=1
语义slam : http://www.liuxiao.org/2018/08/semantic-slam-%E6%96%87%E7%AB%A0%E6%94%B6%E9%9B%86/
参差雅克比的计算:https://blog.csdn.net/u011178262/article/details/85016981