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Analysis of Intermittent Measurement for KF-based SLAM

Nur Aqilah, Othman and Hamzah, Ahmad and Saifudin, Razali (2013) Analysis of Intermittent Measurement for KF-based SLAM. In: International Conference on Electrical, Control and Computer Engineering (InECCE 2013), 27-28 August 2013 , M.S Garden Hotel Kuantan, Pahang. pp. 1-5.. (Unpublished)

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Abstract

This paper investigates the impact of intermittent measurement to the Simultaneous Localization and Mapping (SLAM) of a mobile robot. Intermittent measurement is a condition when the mobile robot lost its measurement data during observations due to sensor failure or imperfection of the system. SLAM is an estimation process that requires measurement data recursively for data update. The analysis focused on the effect of intermittent measurement on the position estimation and state error covariance during intermittent and after intermittent occurred. From the analysis, it can be concluded that intermittent measurement may lead to incorrect estimation of robot pose and its error covariance.

Item Type: Conference or Workshop Item (Speech)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Noorul Farina Arifin
Date Deposited: 06 May 2014 08:34
Last Modified: 05 Feb 2018 07:15
URI: http://umpir.ump.edu.my/id/eprint/5680
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