TY - GEN
T1 - EKF based SLAM with FIM Inflation
AU - Ahmad, Hamzah
AU - Namerikawa, Toru
PY - 2011/8/29
Y1 - 2011/8/29
N2 - This paper deals with an analysis based on Fisher Information Matrix(FIM) for Extended Kalman Filter based Simultaneous Localization and Mapping(SLAM) problem. We show theoretically that the Cramer Rao Lower Bound is proportional to the number of landmarks, the magnitude of process and the measurement noises. In addition, we propose a method of adding a pseudo Positive semidefinite(PsD) matrix to the Fisher Information Matrix to decrease the computational cost in EKF based SLAM. The simulation results are convincing and realizes the improvement for EKF-based SLAM. Therefore, this method further improves the estimation in comparison with the normal EKF performance.
AB - This paper deals with an analysis based on Fisher Information Matrix(FIM) for Extended Kalman Filter based Simultaneous Localization and Mapping(SLAM) problem. We show theoretically that the Cramer Rao Lower Bound is proportional to the number of landmarks, the magnitude of process and the measurement noises. In addition, we propose a method of adding a pseudo Positive semidefinite(PsD) matrix to the Fisher Information Matrix to decrease the computational cost in EKF based SLAM. The simulation results are convincing and realizes the improvement for EKF-based SLAM. Therefore, this method further improves the estimation in comparison with the normal EKF performance.
UR - http://www.scopus.com/inward/record.url?scp=80052009502&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052009502&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80052009502
SN - 9788995605646
T3 - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
SP - 782
EP - 787
BT - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
T2 - 8th Asian Control Conference, ASCC 2011
Y2 - 15 May 2011 through 18 May 2011
ER -