# Covariance in PoseWithCovariance

How is the covariance field in the PoseWithCovariance message interpreted?

ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |

The site is read-only. Please transition to use Robotics Stack Exchange

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

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

Seen: **1,479 times**

Last updated: **Feb 15 '12**

Obtain covariance of pose estimation from ORB-SLAM2

How to move Clearpath Husky A200 by a specific distance by publishing to a topic?

Can someone explain geometry_msgs as used for robot arm poses e.g.?

How to find a good covariance matrix in robot_localizaiton

sensor fusion of 2 Points using message_filters

Unable to publish PoseStamped message

problem in geometry_msgs::Pose

No such file or directory [sensor_msgs/LaserScan.h]

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.