State Estimation for Robotics (Tim Barfoot) exercises Answers

Here are some exercises answers for State Estimation for Robotics, which I did in June, 2017.
The book's public link is here http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf.

But I used the November, 18, 2016 compiled version. So there may be some index differences.

Chapter2 Primer on Probability Theory

Chapter3 Linear-Gaussian Estimation

Chapter4 Nonlinear-Gaussian Estimation

Chapter5 Biases, Correspondences, and Outliers

Chapter6 Primer on Three-Dimensional Geometry