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
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