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Covariance in PoseWithCovariance

asked 2011-12-14 05:58:07 -0600

Hordur gravatar image

How is the covariance field in the PoseWithCovariance message interpreted?

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answered 2012-02-15 22:48:47 -0600

The "msg.covariance" field represents the uncertainty in the deterministic field "msg.pose".

This uncertainty is described by a normal distribution centered on the pose field so the probability of the state x follows: p(x)~ N(msg.pose,msg.covariance)

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Of course there is others ways to represent the pose uncertainty. For instance the PoseArray msg (particles) makes possible describing a more complex probabilistic distribution. In any case it has some drawbacks, most of algorithms based on particles usually have less computational efficence.

Pablo Iñigo Blasco gravatar image Pablo Iñigo Blasco  ( 2012-02-15 22:58:50 -0600 )edit

answered 2011-12-14 06:17:30 -0600

DimitriProsser gravatar image

Off the top of my head, I can only think of one node that might use it. It's interpreted by different nodes in different fashions. The covariance represents the trustworthiness of a measurement. Many programs don't care about this value, and each one that does handles it differently.

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Asked: 2011-12-14 05:58:07 -0600

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Last updated: Feb 15 '12