Here are some exercises answers for State Estimation for Robotics, which I did in June, 2017.
The book's public link is here http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf.
But I used the November, 18, 2016 compiled version. So there may be some index differences.
Chapter2 Primer on Probability Theory
Chapter3 Linear-Gaussian Estimation
Chapter4 Nonlinear-Gaussian Estimation
Chapter5 Biases, Correspondences, and Outliers
Chapter6 Primer on Three-Dimensional Geometry
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