| Location | Erratum | Corrected text | Found by |
| Page 18, Eq. 2.25 | Typo in the definition of the covariance: E[()^2] instead of E[()]^2. | Page 18 | Gorkem Erinc |
| Page 29 | In all conditional probabilities, X_{t_1} should be X_{t-1} | Page 29 | Dimitrios Kanoulas |
| Page 40, Line 2 | Removed "all other moments are zero for the normal distribution" since not correct for even moments. | Page 40 | Ryan Eustice |
| Page 40 | Small error in the floating text: "As we shall see, the canonical and the natural parametrizations are best thought of as duals". Of course, the {\em moments} parametrization is dual to the canonical/natural. | Page 40 | Sven Albrecht |
| Page 41, Text before Eq. 3.4 | Text should reference Equation 3.4, not equation 3.2 | Page 41 | Philipp Robbel |
| Page 87, 4th line in the text | "Thus, the input to the..." should reference p_{k,t-1}, not p_{k,t}, to be consistent with Table 4.1 (same page) | Page 87 | Philipp Robbel |
| Page 104, Eq 4.34 and 4.35 | A typo in the denominator, where the index for $z$ and $u$ starts at 1, not 0. | Page 104 | Philipp Robbel |
| Page 172, Table 6.3, line 8 | replace "z_random" by "z_rand" | Page 172 | Alvaro Aguilera |
| Page 177, Eq 6.38 | Superscript error in phi | Page 177 | Sebastien Michaud |
| Page 179, Table 6.4. | Line 4 is missing -\theta; see equation (6.40). | Page 179 | Bernhard Miller |
| Page 206, Eq 7.10 | Second parameter in lower right corner of matrix should be \alpha_4. | Page 206 | Geoffrey Biggs |
| Page 209, Eq. 7.21 | Added missing right parentheses. | Page 209 | Ryan Eustice |
| Page 223, Eq. 7.33 | Removed stray paranthesis, second argument to atan2 should contain x. | Page 223 | Ryan Eustice |
| Page 258 | Small error in the Algorithm Augmented_MCL: The initialization of the variable accumulating the average particle weight was missing | Page 258 | Cyrill Stachniss |
| Pages 297-298 | Minor error: summation should be over $k$, not $i$. | Pages 297-298 | Mathieu Dubois |
| Page 302, Text below Eq. 9.24 | Replace M by N, which is number of grid cells. | Page 302 | Ryan Eustice |
| Page 313, last paragraph | The motion update changes the pose-map covariances. | Page 313 | Cyrill Stachniss |
| Page 319, Eq. 10.17 | Standard deviations should be squared in Q_t. | Page 319 | Ryan Eustice |
| Page 321, Line 7 | Standard deviations should be squared in Q | Page 321 | Sebastien Michaud |
| Page 322 | Error in two elements of H+t^k. | Page 322 | Omid Aghazadeh |
| Page 359, Text below Table 11.6 | Covariance should be information. | Page 359 | Ryan Eustice |
| Page 361-362, Eqs. 11.41 and 11.42 | Sign error | Page 361-362 | Michel Aoun |
| Page 361, Eq 11.41 | replace \xi by \mu | Page 361-362 | Aaron Holtzman |
| Page 390, last paragraph | Omega refers to the information matrix | Page 390 | Cyrill Stachniss |
| Page 392, Line 3-5 of the SEIF algorithm; Page 394, Line 1 of the SEIF_update_state_estimate | The update of the mean should be computed after the measurement update and the corrected mean becomes a parameter of the SEIF_sparsification method | Page 392 and Page 394 | Rainer Kümmerle Cyrill Stachniss |
| Page 393, Step 2. | Standard deviations should be squared in Q_t. | Page 393 | Ryan Eustice |
| Page 393, Line 11 od SEIF_measurement_update algorithm | There are 3N-3j columns with zero elements in the matrix H | Page 393 | Cyrill Stachniss |
| Page 393, SEIF_measurement_update algorithm | Use the predicted mean instead of the corrected mean | Page 393 | Rainer Kümmerle Cyrill Stachniss |
| Page 393, Line 13; and Eq 12.17, 12.19 (page 398) | Changed "-" to "+" in update equation | Page 393 and Page 398 | Sun Zuolei |
| Page 394, SEIF_sparsification algorithm | The corrected mean is an input parameter | Page 394 | Cyrill Stachniss |
| Page 394, Line 3 of the SEIF_sparsification algorithm | Added the computation of the information matrix omega with superscript 0 (new Line 3) | Page 394 | Cyrill Stachniss |
| Page 394, Line 4 (now Line 5) of the SEIF_sparsification algorithm | The mean is multiplied from the right side, not from the left side | Page 394 | Cyrill Stachniss |
| Page 397, Eq 12.12, Line 4 | There was an orphan "b" at the end of the line, which has been removed | Page 397 | Sun Zuolei |
| Page 405, caption of Fig 12.6 (b) | Six and not four active landmarks are used | Page 405 | Cyrill Stachniss |
| Page 446, Eq. 13.15 | The order of the arguments in the Jacobian should be swapped. | Page 446 | Ryan Eustice |
| Page 448, Text below Eq. 13.21 | Typo: enumerator should be numerator. | Page 448 | Ryan Eustice |
| Page 448, Eq. 13.23 | Missing m_{c_t} variable in the Nnormal distribution. | Page 448 | Ryan Eustice |
| Page 448, Eq. 13.24 and 13.25 | Missing transpose in (13.24), transpose in wrong place in (13.25). | Page 448 | Ryan Eustice |
| Page 448, Eq (13.21) - (13.23) | The dependency on the previous states, measurements, and controls need to be maintained until (13.23) | Page 448 | Cyrill Stachniss |
| Page 450, Line 18 of the FastSLAM 1.0_known_correspondence algorithm | Wrong index n for the expected measurement | Page 450 | Cyrill Stachniss |
| Page 450, Steps 8 and 13 | The order of the arguments in the Jacobians should be swapped. | Page 450 | Ryan Eustice |
| Page 452, Eq (13.27) | Tiny typo: a colon in the formula | Page 452 | Cyrill Stachniss |
| Page 454, Eq. 13.45 | Added missing transposes. | Page 454 | Ryan Eustice |
| Page 456, Eq. 13.53 | Moved transpose and Q_t and R_t to match the structure of Eqn (60) in the FastSLAM journal paper. | Page 456 | Ryan Eustice |
| Page 461, line 18, and page 463, line 24 | Transpose at wrong location in initialization. | Page 461-463 | Udo Frese |
| Page 465, floating text | Reference to M=8 should be N=8 | Page 465 | G. Erkan Bostanci |
| Page 502, Algorithm policy_MPD, line 2 | An index error ($x$ instead of $x_i$) | Page 502 | Philipp Robbel |
| Page 504, text before Eq 14.19. | Typo: Eq 14.19 provides the mean, not the mode. | Page 504 | Philipp Robbel |
| Page 532, Eq 15.42, line 3 | Minor typo: replace $s$ by $x$ | Page 532 | Maxwell Collins |