Covariance in PoseWithCovariance
How is the covariance field in the PoseWithCovariance message interpreted?
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org |
How is the covariance field in the PoseWithCovariance message interpreted?
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.
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.
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 -0600
Seen: 1,288 times
Last updated: Feb 15 '12
Math functions for geometry_msgs?
Error: invalid use of template-name ‘geometry_msgs::Pose_’ without an argument list
are the turtlebot covariance matrices right?
rviz's visualization of rotational elements of a co-variance matrix difficult to interpret
Dynamic covariance for laser odometry
How to calculate covariance matrix for monocular SLAM?
Covariance matrix for the PoseWithCovariance in Odometry.msg