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Covariance Computation Library

TUM Autonomous Motorsport package for modular computation of scan registration covariance

Implemented Formats

Each format returns the 6x6 pose covariance of the registration result (row-major 36-element array). All formats are bound by minimum covariances as part of the configuration. This ensures that the published covariance may not be unrealistically low.

  1. Constant Covariance
    • returns fixed covariance values taken directly from the configuration, independent of the registration; the cheapest option and a safe default when a calibrated model is unavailable