# Covariance in PoseWithCovariance

How is the covariance field in the PoseWithCovariance message interpreted?

Covariance in PoseWithCovariance

How is the covariance field in the PoseWithCovariance message interpreted?

add a comment

3

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)

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.

1

Please start posting anonymously - your entry will be published after you log in or create a new account.

Asked: ** 2011-12-14 05:58:07 -0500 **

Seen: **1,066 times**

Last updated: **Feb 15 '12**

How to get geometry_msgs/Pose from position(x,y,z) like geometry_msgs/Point

how can I pass pose messages for moving arm in a stright line

rviz's visualization of rotational elements of a co-variance matrix difficult to interpret

What do x, y, and z denote in mavros topic /mavros/imu/data_raw

Publishing cmd_vel Internally on the TurtleBot3

How to add a controller to my own robot?

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.