References 1. Trajectory Evaluation A Tutorial on Quantitative Trajectory Evaluationfor Visual-Inertial Odometry 2. Uncertainity Associating Uncertainty With Three-DimensionalPoses for Use in Estimation Problems 2018: Barefoot 3. EM algorithm The Expectation–maximization algorithm The EM algorithm is used for obtaining maximum likelihood estimates of parameters when some of the data ismissing. Maximum Likelihood (ML), Expectation Maximization (EM) 4. KL Divergence Kullback-Leibler Divergence 5. EKF Extended Kalman Filter Tutorial 6. Lie Algebra Learn Lie Algebras: A Walkthrough The Basics