the derivation about uncertainty of point p given the bearing uncertainty and range uncertainty

[haduoken]

thanks for the great work you provide

I read the 《Voxel Mapping 》 paper，and find the derivation hard to understand, and read the ref paper you provide，《Balm》and 《livox_cam_calib》paper. they all consider it as a simple concept，howevery that bother me a lot

I understand the relation between SO(3) and so(3)，and the derivation is Understandable

can you tell me how to find the low level proof, or what material should I read ?

[haduoken]

@ziv-lin @lawrence-cn @XW-HKU @Ecstasy-EC