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

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 Kalm...

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Main Authors: Maziatun, Mohamad Mazlan, Nur Aqilah, Othman, Hamzah, Ahmad
Format: Book Section
Language:English
English
English
Published: Springer Singapore 2018
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Online Access:http://umpir.ump.edu.my/id/eprint/22872/
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http://umpir.ump.edu.my/id/eprint/22872/2/39.1%20Diagonalization%20of%20Covariance%20MAtrix%20in%20Simultaneous%20Localization.pdf
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spelling ump-228722019-05-21T07:55:47Z http://umpir.ump.edu.my/id/eprint/22872/ Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot Maziatun, Mohamad Mazlan Nur Aqilah, Othman Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering 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. Springer Singapore 2018 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22872/2/39.1%20Diagonalization%20of%20Covariance%20MAtrix%20in%20Simultaneous%20Localization.pdf pdf en http://umpir.ump.edu.my/id/eprint/22872/9/43.%20Diagonalization%20of%20covariance%20matrix%20in%20simultaneous%20localization%20and%20mapping%20of%20mobile%20robot.pdf pdf en http://umpir.ump.edu.my/id/eprint/22872/10/43.1%20Diagonalization%20of%20covariance%20matrix%20in%20simultaneous%20localization%20and%20mapping%20of%20mobile%20robot.pdf 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 https://link.springer.com/chapter/10.1007/978-981-13-3708-6_24 DOI: https://doi.org/10.1007/978-981-13-3708-6_24
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
English
English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Maziatun, Mohamad Mazlan
Nur Aqilah, Othman
Hamzah, Ahmad
Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot
description 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.
format Book Section
author Maziatun, Mohamad Mazlan
Nur Aqilah, Othman
Hamzah, Ahmad
author_facet Maziatun, Mohamad Mazlan
Nur Aqilah, Othman
Hamzah, Ahmad
author_sort Maziatun, Mohamad Mazlan
title Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot
title_short Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot
title_full Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot
title_fullStr Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot
title_full_unstemmed Diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot
title_sort diagonalization of covariance matrix in simultaneous localization and mapping of mobile robot
publisher Springer Singapore
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/22872/
http://umpir.ump.edu.my/id/eprint/22872/
http://umpir.ump.edu.my/id/eprint/22872/
http://umpir.ump.edu.my/id/eprint/22872/2/39.1%20Diagonalization%20of%20Covariance%20MAtrix%20in%20Simultaneous%20Localization.pdf
http://umpir.ump.edu.my/id/eprint/22872/9/43.%20Diagonalization%20of%20covariance%20matrix%20in%20simultaneous%20localization%20and%20mapping%20of%20mobile%20robot.pdf
http://umpir.ump.edu.my/id/eprint/22872/10/43.1%20Diagonalization%20of%20covariance%20matrix%20in%20simultaneous%20localization%20and%20mapping%20of%20mobile%20robot.pdf
first_indexed 2023-09-18T22:34:00Z
last_indexed 2023-09-18T22:34:00Z
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