Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot
Diagonalization of covariance matrix through eigenvalue approach in extended Kalman Filter (EKF)-based simultaneous localization and mapping (SLAM) of mobile robot has been studied, as one of the possible approaches in reducing complexity hence computational cost of the system. However, the estimati...
| Main Authors: | , , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Springer
2022
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/32672/1/Improving%20Covariance%20Matrix.pdf |
| _version_ | 1825814083150020608 |
|---|---|
| author | Maziatun, Mohamad Mazlan Nur Aqilah, Othman Hamzah, Ahmad |
| author_facet | Maziatun, Mohamad Mazlan Nur Aqilah, Othman Hamzah, Ahmad |
| author_sort | Maziatun, Mohamad Mazlan |
| collection | UMP |
| description | Diagonalization of covariance matrix through eigenvalue approach in extended Kalman Filter (EKF)-based simultaneous localization and mapping (SLAM) of mobile robot has been studied, as one of the possible approaches in reducing complexity hence computational cost of the system. However, the estimation is seemed to be too optimistic, and further investigation need to be conducted. In this paper, the effect on addition of Pseudo elements in the diagonalization process is investigated. It is evaluated at the updated state covariance matrix of EKF-based SLAM. It is found that the additional of pseudo components in diagonal matrix can improve the covariance matrix and lower the computational complexity. This finding has been proved through simulation. |
| first_indexed | 2024-03-06T12:53:35Z |
| format | Conference or Workshop Item |
| id | UMPir32672 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:53:35Z |
| publishDate | 2022 |
| publisher | Springer |
| record_format | dspace |
| spelling | UMPir326722021-11-29T03:28:25Z http://umpir.ump.edu.my/id/eprint/32672/ Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot Maziatun, Mohamad Mazlan Nur Aqilah, Othman Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering Diagonalization of covariance matrix through eigenvalue approach in extended Kalman Filter (EKF)-based simultaneous localization and mapping (SLAM) of mobile robot has been studied, as one of the possible approaches in reducing complexity hence computational cost of the system. However, the estimation is seemed to be too optimistic, and further investigation need to be conducted. In this paper, the effect on addition of Pseudo elements in the diagonalization process is investigated. It is evaluated at the updated state covariance matrix of EKF-based SLAM. It is found that the additional of pseudo components in diagonal matrix can improve the covariance matrix and lower the computational complexity. This finding has been proved through simulation. Springer 2022 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/32672/1/Improving%20Covariance%20Matrix.pdf Maziatun, Mohamad Mazlan and Nur Aqilah, Othman and Hamzah, Ahmad (2022) Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot. In: Proceedings of the 12th National Technical Seminar on Unmanned System Technology 2020: NUSYS’20 , 27-28 October 2020 , Virtually via the IEEE OES Malaysia Virtual/Online Conference Platform. pp. 995-1007., 770. ISBN 978-981-16-2406-3 (Published) https://doi.org/10.1007/978-981-16-2406-3_73 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Maziatun, Mohamad Mazlan Nur Aqilah, Othman Hamzah, Ahmad Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot |
| title | Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot |
| title_full | Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot |
| title_fullStr | Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot |
| title_full_unstemmed | Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot |
| title_short | Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot |
| title_sort | improving covariance matrix diagonalization in slam of mobile robot |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/32672/1/Improving%20Covariance%20Matrix.pdf |
| work_keys_str_mv | AT maziatunmohamadmazlan improvingcovariancematrixdiagonalizationinslamofmobilerobot AT nuraqilahothman improvingcovariancematrixdiagonalizationinslamofmobilerobot AT hamzahahmad improvingcovariancematrixdiagonalizationinslamofmobilerobot |