State Estimation

• https://cgabc.xyz/categories/State-Estimation/

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App

Pose Graph Optimization

Bundle Adjustment

• Bundle Adjustment (BA) in vSLAM or SFM

Sparse Hessian matrix

Dataset

BAL Dataset

• Bundle Adjustment in the Large

g2o Dataset

• g2o format datasets – Luca Carlone

• sphere.g2o

Books

• Probability, Statistics and Random Processes

• STATE ESTIMATION FOR ROBOTICS

• Probabilistic Robotics

• Factor Graphs for Robot Perception