Covariance inflation efficiency in H filter based SLAM

Hamzah Ahmad, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper analyzes the performance of H Filter(HF) based SLAM(Simultaneous Localization and Mapping) by applying the Covariance Inflation method. We show that via Covariance Inflation, the updated state error covariance matrix is restrictively depends on the number of decorrelated landmarks such as if smaller number of landmarks are being decorrelated from other landmarks, then the decorrelated landmarks has smaller covariance than the correlated landmarks. Even more, HF with Covariance Inflation shows better confidence regarding its estimation in comparison with EKF with Covariance Inflation if the initial state covariance and measurement noise are big. The results are evaluated through several simulation analysis and consistently supports our claims.

Original languageEnglish
Title of host publicationInECCE 2011 - International Conference on Electrical, Control and Computer Engineering
Pages136-141
Number of pages6
DOIs
Publication statusPublished - 2011
Event1st International Conference on Electrical, Control and Computer Engineering 2011, InECCE 2011 - Kuantan, Malaysia
Duration: 2011 Jun 212011 Jun 22

Other

Other1st International Conference on Electrical, Control and Computer Engineering 2011, InECCE 2011
CountryMalaysia
CityKuantan
Period11/6/2111/6/22

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Keywords

  • Covariance Inflation
  • Estimation
  • H Filter
  • SLAM

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ahmad, H., & Namerikawa, T. (2011). Covariance inflation efficiency in H filter based SLAM. In InECCE 2011 - International Conference on Electrical, Control and Computer Engineering (pp. 136-141). [5953864] https://doi.org/10.1109/INECCE.2011.5953864