Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping
One of the biggest factors that contributes to the computational cost of extended Kalman filter-based simultaneous localization and mapping is the computation of the covariance update. This results from the multiplications of the covariance matrix with other parameters along with the increment of it...
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| Format: | Article |
| Language: | English English |
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Elsevier Ltd
2016
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| Online Access: | http://umpir.ump.edu.my/id/eprint/13963/1/Examining%20the%20Eigenvalues%20Effect%20to%20the%20Computational%20Cost%20In%20Mobile%20Robot%20Simultaneous%20Localization%20and%20Mapping.pdf http://umpir.ump.edu.my/id/eprint/13963/7/fkee-2016-%20Numerical%20Study%20for%20MHD%20Stagnation1.pdf |
| _version_ | 1825823078990479360 |
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| author | Nur Aqilah, Othman Hamzah, Ahmad |
| author_facet | Nur Aqilah, Othman Hamzah, Ahmad |
| author_sort | Nur Aqilah, Othman |
| collection | UMP |
| description | One of the biggest factors that contributes to the computational cost of extended Kalman filter-based simultaneous localization and mapping is the computation of the covariance update. This results from the multiplications of the covariance matrix with other parameters along with the increment of its dimension, which is twice the number of landmarks. This study attempts to look for an optimal solution to decrease the computational complexity of the covariance matrix without compromising the accuracy of the state estimation through eigenvalue approach. This paper presents a study on the matrix-diagonalization technique, which is applied to the covariance matrix in extended Kalman filter-based simultaneous localization and mapping to simplify the multiplication process. The behavior of estimation and covariance were observed based on four case studies to analyze the performance of the proposed technique. |
| first_indexed | 2024-03-06T12:06:03Z |
| format | Article |
| id | UMPir13963 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:06:03Z |
| publishDate | 2016 |
| publisher | Elsevier Ltd |
| record_format | dspace |
| spelling | UMPir139632017-10-25T01:50:09Z http://umpir.ump.edu.my/id/eprint/13963/ Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping Nur Aqilah, Othman Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering One of the biggest factors that contributes to the computational cost of extended Kalman filter-based simultaneous localization and mapping is the computation of the covariance update. This results from the multiplications of the covariance matrix with other parameters along with the increment of its dimension, which is twice the number of landmarks. This study attempts to look for an optimal solution to decrease the computational complexity of the covariance matrix without compromising the accuracy of the state estimation through eigenvalue approach. This paper presents a study on the matrix-diagonalization technique, which is applied to the covariance matrix in extended Kalman filter-based simultaneous localization and mapping to simplify the multiplication process. The behavior of estimation and covariance were observed based on four case studies to analyze the performance of the proposed technique. Elsevier Ltd 2016 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/13963/1/Examining%20the%20Eigenvalues%20Effect%20to%20the%20Computational%20Cost%20In%20Mobile%20Robot%20Simultaneous%20Localization%20and%20Mapping.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/13963/7/fkee-2016-%20Numerical%20Study%20for%20MHD%20Stagnation1.pdf Nur Aqilah, Othman and Hamzah, Ahmad (2016) Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping. Computers & Electrical Engineering, 56. pp. 659-673. ISSN 0045-7906. (Published) http://dx.doi.org/10.1016/j.compeleceng.2016.06.009 DOI: 10.1016/j.compeleceng.2016.06.009 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nur Aqilah, Othman Hamzah, Ahmad Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping |
| title | Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping |
| title_full | Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping |
| title_fullStr | Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping |
| title_full_unstemmed | Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping |
| title_short | Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping |
| title_sort | examining the eigenvalues effect to the computational cost in mobile robot simultaneous localization and mapping |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/13963/1/Examining%20the%20Eigenvalues%20Effect%20to%20the%20Computational%20Cost%20In%20Mobile%20Robot%20Simultaneous%20Localization%20and%20Mapping.pdf http://umpir.ump.edu.my/id/eprint/13963/7/fkee-2016-%20Numerical%20Study%20for%20MHD%20Stagnation1.pdf |
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