A hypothesis of state covariance decorrelation effects to partial observability SLAM
This paper analyze the performance of partial observability in simultaneous localization and mapping(SLAM) problem. The study focuses mainly on the effect of having a decorrelation technique known as Covariance Inflation to the estimation. The matrix inversion will be the main element to be investig...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/22341/1/9.%20A%20hypothesis%20of%20state%20covariance%20decorrelation%20effects%20to%20partial%20observability%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/22341/2/9.1%20A%20hypothesis%20of%20state%20covariance%20decorrelation%20effects%20to%20partial%20observability%20SLAM.pdf |
| _version_ | 1825812278680748032 |
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| author | Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli M. A., Bakar |
| author_facet | Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli M. A., Bakar |
| author_sort | Hamzah, Ahmad |
| collection | UMP |
| description | This paper analyze the performance of partial observability in simultaneous localization and mapping(SLAM) problem. The study focuses mainly on the effect of having a decorrelation technique known as Covariance Inflation to the estimation. The matrix inversion will be the main element to be investigated through two conditions with respect to some defined environment namely as unstable partially observable SLAM and partially observable SLAM via matrix norm analysis. For assessment purposes, the Extended Kalman Filter estimation is referred as the estimator to understand how the conditions can influence the results. The simulation results depicted that, the matrix norm is able to determine the efficiency of estimation and is proportional to the uncertainties of the system. |
| first_indexed | 2024-03-06T12:26:48Z |
| format | Conference or Workshop Item |
| id | UMPir22341 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:26:48Z |
| publishDate | 2018 |
| record_format | dspace |
| spelling | UMPir223412018-12-10T04:50:58Z http://umpir.ump.edu.my/id/eprint/22341/ A hypothesis of state covariance decorrelation effects to partial observability SLAM Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli M. A., Bakar TK Electrical engineering. Electronics Nuclear engineering This paper analyze the performance of partial observability in simultaneous localization and mapping(SLAM) problem. The study focuses mainly on the effect of having a decorrelation technique known as Covariance Inflation to the estimation. The matrix inversion will be the main element to be investigated through two conditions with respect to some defined environment namely as unstable partially observable SLAM and partially observable SLAM via matrix norm analysis. For assessment purposes, the Extended Kalman Filter estimation is referred as the estimator to understand how the conditions can influence the results. The simulation results depicted that, the matrix norm is able to determine the efficiency of estimation and is proportional to the uncertainties of the system. 2018 Conference or Workshop Item NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22341/1/9.%20A%20hypothesis%20of%20state%20covariance%20decorrelation%20effects%20to%20partial%20observability%20SLAM.pdf pdf en http://umpir.ump.edu.my/id/eprint/22341/2/9.1%20A%20hypothesis%20of%20state%20covariance%20decorrelation%20effects%20to%20partial%20observability%20SLAM.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Mohd Mawardi, Saari and Mohd Syakirin, Ramli and M. A., Bakar (2018) A hypothesis of state covariance decorrelation effects to partial observability SLAM. In: 4th International Conference On Electronic Design (ICED 2018) , 9 - 10 Aug 2018 , Bandar Hilir, Malacca. pp. 1-6.. (Unpublished) (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli M. A., Bakar A hypothesis of state covariance decorrelation effects to partial observability SLAM |
| title | A hypothesis of state covariance decorrelation effects to partial observability SLAM |
| title_full | A hypothesis of state covariance decorrelation effects to partial observability SLAM |
| title_fullStr | A hypothesis of state covariance decorrelation effects to partial observability SLAM |
| title_full_unstemmed | A hypothesis of state covariance decorrelation effects to partial observability SLAM |
| title_short | A hypothesis of state covariance decorrelation effects to partial observability SLAM |
| title_sort | hypothesis of state covariance decorrelation effects to partial observability slam |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/22341/1/9.%20A%20hypothesis%20of%20state%20covariance%20decorrelation%20effects%20to%20partial%20observability%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/22341/2/9.1%20A%20hypothesis%20of%20state%20covariance%20decorrelation%20effects%20to%20partial%20observability%20SLAM.pdf |
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