VSLAM方面
https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping http://wiki.ros.org/vslam http://www.vision.caltech.edu/mariomu/research/papers/vSLAM-ICRA2005.pdf http://www.vision.caltech.edu/mariomu/research/papers/vSLAM-krs.pdf
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