Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping

One of the biggest factors that contributes to the computational cost of extended Kalman filter-based simultaneous localization and mapping is the computation of the covariance update. This results from the multiplications of the covariance matrix with other parameters along with the increment of it...

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Main Authors:	Nur Aqilah, Othman, Hamzah, Ahmad
Format:	Article
Language:	English English
Published:	Elsevier Ltd 2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/13963/ http://umpir.ump.edu.my/id/eprint/13963/ http://umpir.ump.edu.my/id/eprint/13963/ http://umpir.ump.edu.my/id/eprint/13963/1/Examining%20the%20Eigenvalues%20Effect%20to%20the%20Computational%20Cost%20In%20Mobile%20Robot%20Simultaneous%20Localization%20and%20Mapping.pdf http://umpir.ump.edu.my/id/eprint/13963/7/fkee-2016-%20Numerical%20Study%20for%20MHD%20Stagnation1.pdf

id	ump-13963
recordtype	eprints
spelling	ump-139632017-10-25T01:50:09Z http://umpir.ump.edu.my/id/eprint/13963/ Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping Nur Aqilah, Othman Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering One of the biggest factors that contributes to the computational cost of extended Kalman filter-based simultaneous localization and mapping is the computation of the covariance update. This results from the multiplications of the covariance matrix with other parameters along with the increment of its dimension, which is twice the number of landmarks. This study attempts to look for an optimal solution to decrease the computational complexity of the covariance matrix without compromising the accuracy of the state estimation through eigenvalue approach. This paper presents a study on the matrix-diagonalization technique, which is applied to the covariance matrix in extended Kalman filter-based simultaneous localization and mapping to simplify the multiplication process. The behavior of estimation and covariance were observed based on four case studies to analyze the performance of the proposed technique. Elsevier Ltd 2016 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/13963/1/Examining%20the%20Eigenvalues%20Effect%20to%20the%20Computational%20Cost%20In%20Mobile%20Robot%20Simultaneous%20Localization%20and%20Mapping.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/13963/7/fkee-2016-%20Numerical%20Study%20for%20MHD%20Stagnation1.pdf Nur Aqilah, Othman and Hamzah, Ahmad (2016) Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping. Computers & Electrical Engineering, 56. pp. 659-673. ISSN 0045-7906 http://dx.doi.org/10.1016/j.compeleceng.2016.06.009 DOI: 10.1016/j.compeleceng.2016.06.009
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Nur Aqilah, Othman Hamzah, Ahmad Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping
description	One of the biggest factors that contributes to the computational cost of extended Kalman filter-based simultaneous localization and mapping is the computation of the covariance update. This results from the multiplications of the covariance matrix with other parameters along with the increment of its dimension, which is twice the number of landmarks. This study attempts to look for an optimal solution to decrease the computational complexity of the covariance matrix without compromising the accuracy of the state estimation through eigenvalue approach. This paper presents a study on the matrix-diagonalization technique, which is applied to the covariance matrix in extended Kalman filter-based simultaneous localization and mapping to simplify the multiplication process. The behavior of estimation and covariance were observed based on four case studies to analyze the performance of the proposed technique.
format	Article
author	Nur Aqilah, Othman Hamzah, Ahmad
author_facet	Nur Aqilah, Othman Hamzah, Ahmad
author_sort	Nur Aqilah, Othman
title	Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping
title_short	Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping
title_full	Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping
title_fullStr	Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping
title_full_unstemmed	Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping
title_sort	examining the eigenvalues effect to the computational cost in mobile robot simultaneous localization and mapping
publisher	Elsevier Ltd
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/13963/ http://umpir.ump.edu.my/id/eprint/13963/ http://umpir.ump.edu.my/id/eprint/13963/ http://umpir.ump.edu.my/id/eprint/13963/1/Examining%20the%20Eigenvalues%20Effect%20to%20the%20Computational%20Cost%20In%20Mobile%20Robot%20Simultaneous%20Localization%20and%20Mapping.pdf http://umpir.ump.edu.my/id/eprint/13963/7/fkee-2016-%20Numerical%20Study%20for%20MHD%20Stagnation1.pdf
first_indexed	2023-09-18T22:17:10Z
last_indexed	2023-09-18T22:17:10Z
_version_	1777415414489284608

Examining the Eigenvalues Effect to the Computational Cost in Mobile Robot Simultaneous Localization and Mapping

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