可以参考的博客：
https://www.cnblogs.com/shang-slam/
不错的文档：
se3：
http://ethaneade.com/lie.pdf
A tutorial on SE(3) transformation parameterizations and on-manifold optimization
Three-Dimensional Projective Geometry with Geometric Algebra
四元数：
Quaternion kinematics for the error-state Kalman filter
Indirect Kalman Filter for 3D Attitude Estimation.A Tutorial for Quaternion Algebra
Quaternions White Paper
https://researchers.anu.edu.au/researchers/kim-j#biography 这个作者研究室的是双四元数SLAM，有时间研究研究
rovio作者关于四元数问题的论文：
Why and How to Avoid the Flipped Quaternion Multiplication
bundle adjustment
ROVIO开源项目中，作者对姿态的处理比较特别：
作者的博士论文：
State Estimation for Legged Robots - Kinematics, Inertial Sensing, and Computer Vision
代码参考的论文： Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback
作者关于rovio中姿态计算的论文：A Primer on the Differential Calculus of 3D Orientations
DSO作者博士论文：
Large-Scale Direct SLAM and 3D Reconstruction in Real-Time
论文：
Combining Feature-based and Direct Methods for Semi-dense Real-time Visual SLAM from Stereo Cameras
https://www.cs.cmu.edu/~halismai/h_alismail_robotics_2016.pdf
一本比较老的书，内容还不错（包括各种变换的解释）：
An Invitation to 3-D Vision From Images to Models
slam及其及其数据集：
http://fzheng.me/
大神的地址：
http://paulfurgale.info/
https://github.com/laurentkneip ， opengv
TUM课程：
Lecture 6: Visual Navigation for Flying Robots (Dr. Jürgen Sturm)
卷帘相机版本的lsd-slam
https://github.com/jaehak/rrd_slam
基于SFM构建的稠密模型进习定位：
http://www.graphics.rwth-aachen.de/publication/03213/
https://github.com/hanjianwei/ACG-Tracker-Demo
https://www.cnblogs.com/shang-slam/
不错的文档：
se3：
http://ethaneade.com/lie.pdf
A tutorial on SE(3) transformation parameterizations and on-manifold optimization
Three-Dimensional Projective Geometry with Geometric Algebra
四元数：
Quaternion kinematics for the error-state Kalman filter
Indirect Kalman Filter for 3D Attitude Estimation.A Tutorial for Quaternion Algebra
Quaternions White Paper
https://researchers.anu.edu.au/researchers/kim-j#biography 这个作者研究室的是双四元数SLAM，有时间研究研究
rovio作者关于四元数问题的论文：
Why and How to Avoid the Flipped Quaternion Multiplication
bundle adjustment
ROVIO开源项目中，作者对姿态的处理比较特别：
作者的博士论文：
State Estimation for Legged Robots - Kinematics, Inertial Sensing, and Computer Vision
代码参考的论文： Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback
作者关于rovio中姿态计算的论文：A Primer on the Differential Calculus of 3D Orientations
DSO作者博士论文：
Large-Scale Direct SLAM and 3D Reconstruction in Real-Time
论文：
Combining Feature-based and Direct Methods for Semi-dense Real-time Visual SLAM from Stereo Cameras
rovio视觉里程计的笔记
bpvo作者的博士论文https://www.cs.cmu.edu/~halismai/h_alismail_robotics_2016.pdf
一本比较老的书，内容还不错（包括各种变换的解释）：
An Invitation to 3-D Vision From Images to Models
slam及其及其数据集：
http://fzheng.me/
大神的地址：
http://paulfurgale.info/
https://github.com/laurentkneip ， opengv
TUM课程：
Lecture 6: Visual Navigation for Flying Robots (Dr. Jürgen Sturm)
卷帘相机版本的lsd-slam
https://github.com/jaehak/rrd_slam
基于SFM构建的稠密模型进习定位：
http://www.graphics.rwth-aachen.de/publication/03213/
https://github.com/hanjianwei/ACG-Tracker-Demo
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