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. Author manuscript; available in PMC: 2011 Jun 3.
Published in final edited form as: IEEE Int Conf Robot Autom. 2010:3703–3708. doi: 10.1109/ROBOT.2010.5509380

Fig. 3.

Fig. 3

(a) Error bars for the NLSEs between the two covariances obtained by the simulated paths and by the closed-form formula. (b) Error bars for the NLSEs between the two covariances obtained by the experimental trajectories and by the closed-form formula.