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@zhu 融合算法的思想是根据同一时刻，视觉odometer和底盘惯导odometer之间的变换关系是固定不变的（由安装位置决定），这可以列出一个方程。多个时刻的数据就能获得多个方程，多个方程组求解即可得到这个变换关系。得到变换关系后，两个odometer现在已经在同一个坐标系下了，可以进行加权或者卡尔曼滤波融合
