# Covariance in PoseWithCovariance

How is the covariance field in the PoseWithCovariance message interpreted?

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Covariance in PoseWithCovariance

How is the covariance field in the PoseWithCovariance message interpreted?

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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.

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

Seen: **1,288 times**

Last updated: **Feb 15 '12**

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