https://www.cnblogs.com/Anita9002/p/6019783.html?tdsourcetag=s_pcqq_aiomsg(总结、综述)
https://sgtx101.kuaizhan.com/62/22/p361001517b298d?tdsourcetag=s_pcqq_aiomsg(TSDF、模型驱动的ICP优化算法)
https://blog.csdn.net/tracelessle/article/details/59693743?tdsourcetag=s_pcqq_aiomsg(TSDF详解)
https://www.cnblogs.com/molakejin/p/8021574.html?tdsourcetag=s_pcqq_aiomsg(另一个潦草的总结)
https://blog.csdn.net/shenziheng1/article/details/52955687(协方差矩阵详解)