Intermittent measurement in robotic localization and mapping with FIM statistical bounds

Hamzah Ahmad, Toru Namerikawa

研究成果: Article査読

12 被引用数 (Scopus)

抄録

The focus of study is to review the FIM statistical behavior in each EKF update and determine its potential in providing sufficient information about Robotic Localization and Mapping problem with intermittent measurements. We provide theoretical analysis and prove that the FIM can successfully describe both upper and lower bounds for the state covariance matrix whenever measurement data is not arrived during robot observations. This approach can give a better picture on how information are processed in EKF when measurement data is partially unavailable. Some simulation evaluations are also included to verify our results and consistently demonstrate the expected outcome.

本文言語English
ページ(範囲)1223-1232
ページ数10
ジャーナルIEEJ Transactions on Electronics, Information and Systems
131
6
DOI
出版ステータスPublished - 2011

ASJC Scopus subject areas

  • 電子工学および電気工学

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