Correction to:"Position estimation from direction or range measurements"

TL;DR

This paper corrects an earlier error in a lemma related to observability conditions in LTV systems, impacting proofs of body-pose estimation from range measurements.

Contribution

It provides a correction to a key lemma and revises related proofs in the context of pose estimation from range data.

Findings

Corrected a critical lemma affecting observability analysis

Revised proofs for body-pose estimation methods

Ensured accuracy of theoretical foundations in LTV systems

Abstract

This technical communiqu\'e aims at correcting an erroneous statement (Lemma 2.4) in an earlier paper by the same authors concerning a sufficient condition of uniform observability for a Linear Time-Varying (LTV) system. In this earlier paper, the proofs of two other lemmas, about body-pose estimation from range measurements, relied on this erroneous statement. For the sake of conciseness, only a new proof of one of these lemmas is presented, the proof of the second lemma being a simpler version of it.