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
