当下SLAM方案的总体介绍
http://wwwbuild.net/roboteasy/908066.html
slam基础知识
https://www.zhihu.com/question/35186064
牛津视觉几何研究组：This page is focused on the problem of detecting affine invariant features in arbitrary images and on the performance evaluation of region detectors/descriptors.
http://www.robots.ox.ac.uk:5000/~vgg/research/affine/index.html
高斯模糊
http://www.ruanyifeng.com/blog/2012/11/gaussian_blur.html
https://blog.csdn.net/dcrmg/article/details/52561656
SIFT原理与源码分析
https://blog.csdn.net/xiaowei_cqu/article/details/8069548
ROS简介
https://www.cnblogs.com/qqfly/p/5851382.html
TUM数据集使用
https://www.cnblogs.com/gaoxiang12/p/5175118.html
随机抽样一致法讲解
https://www.cnblogs.com/xrwang/archive/2011/03/09/ransac-1.html