Errata

This page contains error and clarifications for the book. To create errata please post an Issue on Github and use the errata template.

Chapter 6, page 233, (6.22) Issue #15

This is the insertion Jacobian for the SLAM case, not the landmark-only case as it should be. For the landmark-only case the Jacobian is

$${\bf Y}_z = \frac{\partial {\bf y}}{\partial {\bf z}} = \left( \begin{array}{c|c} {\bf 1}_{M \times M} & {\bf 0}_{M \times 2} \\\ {\bf 0}_{2 \times M} & {\bf G}_z \end{array} \right)$$

For the SLAM case (6.22) applies using the definition of ${\bf G}_x$ from (6.27).