vins imu 预积分及优化边缘化

Vins-Mono完整版总结：https://www.zybuluo.com/Xiaobuyi/note/866099

参考文献

1 VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator, Tong Qin, Peiliang Li, Zhenfei Yang, Shaojie Shen (techincal report)

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/