http://blog.csdn.net/zouxy09/article/details/49080029

 

关于orb角点检测的：

http://blog.csdn.net/yang843061497/article/details/38553765

 

Bundle Adjustment简述

http://blog.csdn.net/OptSolution/article/details/64442962

 

【泡泡机器人原创专栏-位姿求解】相机位姿问题的特征点法求解

https://mp.weixin.qq.com/s/2i5RwW5HxpQVdqQ25AqN1w

 

Quaternion kinematics for the error-state KF
http://www.iri.upc.edu/people/jsola/JoanSola/objectes/notes/kinematics.pdf

 

李群李代数，扰动模型推导

https://blog.csdn.net/youngpan1101/article/details/71087919