Errata for "Robot Localization and Kalman Filters"
by Rudy Negenborn, 2003

* Section 4.5.2., page 43, right before equation (4.22):

  "Pk- as the posterior error covariance"

  should be:

  "Pk+ as the posterior error covariance"

  (thanks to Ed Koush, October 20, 2007).