Suppose there exists two estimates for transformations from A to B.....T1 and T2. a) If I want to look at the error/difference between two transformations T1 a T2, how do I do this...?

b) Also, if I have several estimates of this transformation from A to B from T1, T2, T3....Tn each with a degree of uncertainty which is mainly the number of hops in the path from A to B, how do I use these estimates to get a final and hence more precise transformation T...?

I don't know about lei algebra...can this be used for (a).? How..? And can I use bundle adjustment for (b)..? Again, any tutorials are appreciated.....