视觉VO（11-3-1）orb-slam 位姿到位姿边 --全局位姿图优化

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

完整推导过程

1伴随性质
https://blog.csdn.net/heyijia0327/article/details/51773578

2 BCH近似
http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf

3-2 Adjoint Matrix of sim(3)
Local Accuracy and Global Consistency for Efficient Visual SLAM