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58 LIST OF FIGURES
4.24 Mean and covariance for t 0 and t 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.25 Tf tree and frames for a transformation chain. . . . . . . . . . . . . . . . . . . . . . 43
4.26 Time where TF Data was captured. . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.27 Tf chain with 3σ uncertainty ellipses. . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.1 Tf tree of a robot with different actuators and sensors. . . . . . . . . . . . . . . . . . 49
5.2 Component model with data flow. TF Data is linked by names with the tf tree. . . . . 50
5.3 Frames in 3D space with 3σ uncertainty ellipsoid for the laser_point_frame. . 52