STATE ESTIMATION FOR ROBOTICS - University of Toronto

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).

cursion for the Cholesky and RTS smoothers. 31 Jan 2019 Page 29, cleaned up an inconsistency involving M 24 Feb 2019 Equation (3.225): corrected upper integration limit from tkto tk:k1 29 Apr 2019 Equations (3.97), (3.98), (3.101), (3.102): adjust-ments made to x an inconsistent dimension problem 23 Jul 2019 Equation (4.77): v1:k1 corrected to v1:k

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  States, Estimation, Cholesky, State estimation, The cholesky

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