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Question about pose with Covariance Stamped topic #205

Open ruddradev opened 5 years ago

ruddradev commented 5 years ago

Hello,

I am new to Rovio as well as SLAM and came across this issue. I am trying to figure out what the covariance matrix values mean and why they are 6x6 in the published topic /rovio/pose_with_covariance_stamped.

Is there some literature I can read to find out exactly what they do?

I saw there is another issue created, but since it has been closed, I thought it would be better if I create a new one.

Thank you all.

Warm Regards, Ruddra

bloesch commented 5 years ago

This is a good read:

https://arxiv.org/abs/1107.1119

Section 3.4 and 3.5 provide the details. However, I think the covnention employed in Rovio may be slight different, but the concept is the same.