优秀博客总结

• VINS-Mono代码分析总结

https://www.zybuluo.com/Xiaobuyi/note/866099

• VIO当中的预计分 《On-manifold preintegration for real-time visual-inertial Odometry》

 https://blog.csdn.net/LilyNothing/article/details/79113841