Location  Erratum  Corrected text  Found by

Page 18, Eq. 2.25
 Typo in the definition of the covariance: E[()^2] instead of E[()]^2.
 Page 18
 Gorkem Erinc

Page 29
 In all conditional probabilities, X_{t_1} should be X_{t1}
 Page 29
 Dimitrios Kanoulas

Page 40
 Small error in the floating text: "As we shall see, the canonical and the natural parametrizations are best thought of as duals". Of course, the {\em moments} parametrization is dual to the canonical/natural.
 no pdf
 Sven Albrecht

Page 41, Text before Eq. 3.4
 Text should reference Equation 3.4, not equation 3.2
 Page 41
 Philipp Robbel

Page 87, 4th line in the text
 "Thus, the input to the..." should reference p_{k,t1}, not p_{k,t}, to be consistent with Table 4.1 (same page)
 Page 87
 Philipp Robbel

Page 104, Eq 4.34 and 4.35
 A typo in the denominator, where the index for $z$ and $u$ starts at 1, not 0.
 Page 104
 Philipp Robbel

Page 172, Table 6.3, line 8
 replace "z_random" by "z_rand"
 no pdf
 Alvaro Aguilera

Page 179, Table 6.4.
 Line 4 is missing \theta; see equation (6.40).
 Page 179
 Bernhard Miller

Page 206, Eq 7.10
 Second parameter in lower right corner of matrix should be \alpha_4.
 Page 206
 Geoffrey Biggs

Page 258
 Small error in the Algorithm Augmented_MCL: The initialization of the variable accumulating the average particle weight was missing
 Page 258
 Cyrill Stachniss

Pages 297298
 Minor error: summation should be over $k$, not $i$.
 Pages 297298
 Mathieu Dubois

Page 322
 Error in two elements of H+t^k.
 Page 322
 Omid Aghazadeh

Page 361362, Eqs. 11.41 and 11.42
 Sign error
 Page 361362
 Michel Aoun

Page 361, Eq 11.41
 replace \xi by \mu
 Page 361362
 Aaron Holtzman

Page 393, Line 13; and Eq 12.17, 12.19 (page 398)
 Changed "" to "+" in update equation
 Page 393 and Page 398
 Sun Zuolei

Page 397, Eq 12.12, Line 4
 There was an orphan "b" at the end of the line, which has been removed
 Page 397
 Sun Zuolei

Page 461, line 18, and page 463, line 24
 Transpose at wrong location in initialization.
 Page 461463
 Udo Frese

Page 465, floating text
 Reference to M=8 should be N=8
 Page 465
 G. Erkan Bostanci

Page 502, Algorithm policy_MPD, line 2
 An index error ($x$ instead of $x_i$)
 Page 502
 Philipp Robbel

Page 504, text before Eq 14.19.
 Typo: Eq 14.19 provides the mean, not the mode.
 Page 504
 Philipp Robbel

Page 532, Eq 15.42, line 3
 Minor typo: replace $s$ by $x$
 Page 532
 Maxwell Collins
