Is Wikipedia page on Kalman Filter's wrong? I was reading the wikipedia page on Kalman filter
Snippet from wikipedia
There, when estimating the co-variance matrix, the Q matrix is used. When calculating Kalman gain, R matrix is used.
In most literature I found on Kalman filters, it is the other way around.
Here is a snippet from the Probabilistic Robotics written by Dr. Sebastian Thrun from Stanford.
Kalman Filter snippet from Thrun's book
I guess it would be fair to assume that the wikipedia article is incorrect. 
Just hoping someone could double check it to make sure I'm right.

Thrune is using $Q$ to denote the sensor noise covariance and $R$ to denote the process noise covariance. This is stated on page 35. Wikipedia uses the reverse of those definitions, defined in this section. Neither is wrong. I would argue that Wikipedia's notation is actually more common; I have read quite a bit of literature on this subject.
