A hypothesis of state covariance decorrelation effects to partial observability SLAM

Hamzah Ahmad, Nur Aqilah Othman, Mohd Mawardi Saari, Mohd Syakirin Ramli, Maziatun Binti Mohamad Mazlan, Toru Namerikawa

研究成果: Article

抄録

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.

元の言語English
ページ(範囲)588-596
ページ数9
ジャーナルIndonesian Journal of Electrical Engineering and Computer Science
14
発行部数2
DOI
出版物ステータスPublished - 2019 5 1

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Simultaneous Localization and Mapping
Observability
Matrix Norm
Partial
Matrix Inversion
Extended Kalman filters
Inflation
Kalman Filter
Unstable
Directly proportional
Estimator
Uncertainty
Simulation

ASJC Scopus subject areas

  • Signal Processing
  • Information Systems
  • Hardware and Architecture
  • Computer Networks and Communications
  • Control and Optimization
  • Electrical and Electronic Engineering

これを引用

A hypothesis of state covariance decorrelation effects to partial observability SLAM. / Ahmad, Hamzah; Othman, Nur Aqilah; Saari, Mohd Mawardi; Ramli, Mohd Syakirin; Mazlan, Maziatun Binti Mohamad; Namerikawa, Toru.

:: Indonesian Journal of Electrical Engineering and Computer Science, 巻 14, 番号 2, 01.05.2019, p. 588-596.

研究成果: Article

Ahmad, Hamzah ; Othman, Nur Aqilah ; Saari, Mohd Mawardi ; Ramli, Mohd Syakirin ; Mazlan, Maziatun Binti Mohamad ; Namerikawa, Toru. / A hypothesis of state covariance decorrelation effects to partial observability SLAM. :: Indonesian Journal of Electrical Engineering and Computer Science. 2019 ; 巻 14, 番号 2. pp. 588-596.
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AU - Mazlan, Maziatun Binti Mohamad

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