# Probabilistic Robotic: Errata (Third Printing)

You can recognize your printing number on the copyright page (Library of Congress Catalog reference) in the very front of the book. At the bottom, the row of numbers should end at "3". There have been substantial math changes between the third and the first two printings. The authors recommend consulting the third printing. Errata for first and second printing are still available.

All corrected pages for the third edition can be found in this directory.

 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 KümmerleCyrill 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