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STATE ESTIMATION FOR

ROBOTICS

Timothy D. Barfoot

Copyright

c

 2022

Cambridge University Press is the Oﬃcial Publisher

This Unoﬃcial Version Compiled on December 10, 2022

Send errata to <tim.barfoot@utoronto.ca>

iv Revision History

13 Jul 2018 Equation (3.99b): made second term negative

13 Aug 2018 Equation (10.18): corrected J

u

to J

v

13 Aug 2018 Exercise 6.6.6: adjusted wording to due to poor use

of the term ‘aﬃne’

22 Nov 2018 Equation (4.85): corrected n

0

i

to be n

0

k,i

26 Nov 2018 Exercise 2.5.6: corrected N to K in upper limit of

mean summation

28 Nov 2018 Added Appendix A.3 on the posterior covariance re-

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 ∆t

k

to ∆t

k:k−1

29 Apr 2019 Equations (3.97), (3.98), (3.101), (3.102): adjust-

ments made to ﬁx an inconsistent dimension problem

23 Jul 2019 Equation (4.77): v

1:k−1

corrected to v

1:k

1 Oct 2019 Equation (4.151) and (4.152): v corrected to ν

21 Oct 2019 Equations (4.171), (4.177b), (4.178), Exercise 4.6.5:

G

k

(x) corrected to G

k

(x)

T

25 Jan 2020 Below (7.197) in text: φ ∈ R corrected to R

3

17 Apr 2020 Problem 3.6.2: corrected the size of the matrix for

H

T

W

−1

H

26 Apr 2020 Equation (4.30): removed an extra comma in the ﬁrst

term

8 May 2020 Figures 5.1, 5.2, 5.3 (and Exercises 5.5.1 and 5.5.2):

adjusted time subscripts to match system matrices in

main body

8 May 2020 Equation (5.3): added missing transpose symbols to

each term

8 May 2020 Equation (5.11): added missing term in the under-

brace of ﬁrst term in second line

8 May 2020 Section 7.1.7: renamed variables to be more clear

6 Jun 2020 Identity page: ﬁxed error in (v

∧

u

∧

v)

∧

identity

6 Jun 2020 Equations (7.108) and (7.119): ﬁxed errors in coeﬃ-

cients of expansions

3 Jul 2020 Example 8.1: added a missing 1/6 in multiple places

for weight

3 Jul 2020 Page 316: corrected negative signs in deﬁnition of M

21 Oct 2020 Equation (6.99): removed negative sign in front of ν

to be easier to compare to next chapter

5 Jan 2021 Example 8.1: corrected minimal cost to be J = 4

5 Jan 2021 Equation (6.57c): corrected sign of second term

6 May 2021 Equations (7.227b, 7.258b, 7.260b, 7.261): corrected

missing negative sign and transpose

24 June 2021 Figure 9.4: corrected J

y,30

label

10 Dec 2022 Section 3.2: corrected complexity claim from

O(N(K + 1)) to O(N

3

(K + 1))

10 Dec 2022 End of Corrections for First Edition, any further is-

sues will be corrected in the Second Edition

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