Including: basic definitions, measurement models, measurement error models, positioning error models
Including: complete derivation to discretize the continuous-time process. This is useful to model sensor biases in a discrete-time setup.
Including: basic definitions regarding quaternions, quaternion multiplication, conversion from unit quaternion to rotation matrix, rotations of 3D vectors in homogeneous coordinates, and small-angle approximations.
Including: explicit formulations of the optimization problems solved by g2o, and TORO, and comments on the actual differences in the structure of the optimization objective.
[Image: 3D sphere, http://www.openslam.org/toro.html]