STATE ESTIMATION FOR ROBOTICS

STATE ESTIMATION FOR. ROBOTICS . Timothy D. Barfoot c 2019. Copyright Cambridge University Press is the Official Publisher This Unofficial Version Compiled on October 1, 2019. Send errata to Revision History 13 May 2017 Version best matching published first edition 12 Aug 2017 Equation ( ): x changed to xx 12 Aug 2017 Page 111, bullet 4: y changed to yy 12 Aug 2017 Page 117, bullet (ii): changed 4(a) to 3. 12 Aug 2017 Equation ( ): P changed to P k 12 Aug 2017 Equation ( ): P k changed to P k 12 Aug 2017 Equation ( ): xop,k,0 changed to xop,k,i 12 Aug 2017 Equation ( ): removed negative sign 22 Nov 2017 Fixed typo in Jacobi identity (page 218). 10 Dec 2017 Equation ( ): 1yy yx changed to xy yy 1. vk i 10 Dec 2017 Inline above ( ): rvi i changed to ri T. 10 Dec 2017 Equation ( ): 0 changed to 0. 10 Dec 2017 Inline below ( ): e(xop ) = Lu(xop ) changed to e(xop ) = L 1 u(xop ).

6.3.2 Robotics Conventions 194 6.3.3 Frenet-Serret Frame 196 6.4 Sensor Models 199 6.4.1 Perspective Camera 199 6.4.2 Stereo Camera 206 6.4.3 Range-Azimuth-Elevation 208 6.4.4 Inertial Measurement Unit 209 6.5 Summary 211 6.6 Exercises 212. viii Contents 7 Matrix Lie Groups 215 7.1 Geometry 215

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