orb-slam2框架与vins框架

orb-slam2简介及系统架构：https://blog.csdn.net/u010128736/article/details/53157605
vins简介及系统架构：https://www.cnblogs.com/ilekoaiq/p/8836970.html
https://blog.csdn.net/wangshuailpp/article/details/78719363