MILD

https://github.com/lhanaf/MILD

DBoW2库详解

http://www.paopaorobot.org/bbs/read.php?tid=28&fid=7

Orbslam2

https://blog.csdn.net/lwx309025167/article/category/9275628

Simple bag-of-words loop closure for visual SLAM

https://nicolovaligi.com/bag-of-words-loop-closure-visual-slam.html

VINS-Mono代码解读——回环检测与重定位 pose graph loop closing

https://blog.csdn.net/qq_41839222/article/details/87878550

残差residual VS 误差 error

https://blog.csdn.net/jmydream/article/details/8764869

線性回歸(Linear Regression)

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