Covariance inflation efficiency in H filter based SLAM

Hamzah Ahmad, Toru Namerikawa

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルInECCE 2011 - International Conference on Electrical, Control and Computer Engineering
ページ136-141
ページ数6
DOI
出版ステータスPublished - 2011 8 18
イベント1st International Conference on Electrical, Control and Computer Engineering 2011, InECCE 2011 - Kuantan, Malaysia
継続期間: 2011 6 212011 6 22

出版物シリーズ

名前InECCE 2011 - International Conference on Electrical, Control and Computer Engineering

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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