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Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot

Maziatun, Mohamad Mazlan and Nur Aqilah, Othman and Hamzah, Ahmad (2018) Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 285-297. ISBN 978-981-13-3708-6

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Abstract

The purpose of this study is to analyze the behavior effects of covariance state update of different MATLAB simulation coding between modification algorithm of diaonal matrix using eigenvalue and using algorithm function of diagonalization directly, as it adds to computational cost of broadened Kalman channel based Synchronous Limitation and Mapping issue. The multiplications of the covariance matrix with other parameters will cause the increments of its dimension, which is twice the number of landmarks and result in erroneous estimation. For this inspiration an examination must be led to diminish the computational manysided quality of the covariance grid without limiting the exactness of the state estimation utilizing eigenvalue approach. The network diagonalization strategy which is connected to the covariance lattice in EKF-base SLAM must be examined due to rearrange the duplication procedure. Therefore, improvement is needed to find better iagonalization method. In view of two contextual investigations, the practices of estimation and covariance are checked.

Item Type: Book Section
Additional Information: Indexed by Springer
Uncontrolled Keywords: Covariance; Diagonalization; Eigenvalue; Extended Kalman filter; Localization
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 19 Dec 2018 02:55
Last Modified: 21 May 2019 07:55
URI: http://umpir.ump.edu.my/id/eprint/22872
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