Stack Exchange network consists of 178 Q&A communities including Stack Overflow, the largest, most trusted online community for developers to learn, share their knowledge, and build their careers.
Q&A for work
Connect and share knowledge within a single location that is structured and easy to search.
View all activity pages
The MRPT library can do this for you. You need to use a CPose3DPDFGaussian to represent your pose and covariance then use the + operator.
Under the hood it represents your 6DOF covariance as a 7DOF ...