参考任乾大佬的知乎和git，做一些简单注释和理解
知乎：https://zhuanlan.zhihu.com/p/104791974
Github：https://github.com/Little-Potato-1990/localization_in_auto_driving
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参考任乾大佬的知乎和git，做一些简单注释和理解