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Number of diagonal elements in the pose covariance matrix

The quaternion part [q_x, q_y, q_z, q_w] has four numbers but is a representation of 3D orientation, which has 3 degrees of freedom. Another common representation ...
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3 votes

How to deal with Gaussian Errors, which don't have a mean value of 0?

I don't know if this is mathematically sound or not, but it's given me good results in practice. What I've done in this situation personally, when I expect/know that there is a bias, is to include the ...
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1 vote

Number of diagonal elements in the pose covariance matrix

Adding to Parker's answer, the quaternion is avoided many cases due to its complexity in getting a closed-form Jacobian. Also, it unnecessarily increases the number of optimization states. Due to ...
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