Covariance Matrix for Mono SLAM

[Andreluizfc]

Hello,

I am trying to get the Pose data and fuse with others Sensors through KF. But I could not find a place where the covariance from the pose is initialized. Have you done something similar? Do you fuse infomation with any filter?

I've found some issues regarding this same topic. In this question the guy told to use this matrix:

static const boost::array<double, 36> STANDARD_POSE_COVARIANCE =
{ { 0.1, 0, 0, 0, 0, 0,
    0, 0.1, 0, 0, 0, 0,
    0, 0, 0.1, 0, 0, 0,
    0, 0, 0, 0.17, 0, 0,
    0, 0, 0, 0, 0.17, 0,
    0, 0, 0, 0, 0, 0.17 } };

But I don't know how general is this.

Thanks!

André Castro.