****Cholesky decomposition****
[Inverse Matrix](https://texonom.com/inverse-matrix-737012fc4e50403696dfa9bb16e20b7f) [Hermitian matrix](https://texonom.com/hermitian-matrix-15f653dc272b4438bcd9057ea60c1e7f) 


Linear System 효과적으로
역행렬을 구하려고 할 때, 조금 더 효율적으로 구하기 위해




> [Cholesky decomposition](https://en.wikipedia.org/wiki/Cholesky_decomposition)

> [Untitled](https://taeyoung96.github.io/slam/SLAM_02/)





