Analysis of Intermittent Measurement for KF-based SLAM

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. S...

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Main Authors:	Nur Aqilah, Othman, Hamzah, Ahmad, Saifudin, Razali
Format:	Conference or Workshop Item
Language:	English
Published:	2013
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/5680/ http://umpir.ump.edu.my/id/eprint/5680/1/InECCE_2013_Aqilah_Othman.pdf

id	ump-5680
recordtype	eprints
spelling	ump-56802018-02-05T07:15:15Z http://umpir.ump.edu.my/id/eprint/5680/ Analysis of Intermittent Measurement for KF-based SLAM Nur Aqilah, Othman Hamzah, Ahmad Saifudin, Razali TK Electrical engineering. Electronics Nuclear engineering 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. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/5680/1/InECCE_2013_Aqilah_Othman.pdf 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 (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Nur Aqilah, Othman Hamzah, Ahmad Saifudin, Razali Analysis of Intermittent Measurement for KF-based SLAM
description	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.
format	Conference or Workshop Item
author	Nur Aqilah, Othman Hamzah, Ahmad Saifudin, Razali
author_facet	Nur Aqilah, Othman Hamzah, Ahmad Saifudin, Razali
author_sort	Nur Aqilah, Othman
title	Analysis of Intermittent Measurement for KF-based SLAM
title_short	Analysis of Intermittent Measurement for KF-based SLAM
title_full	Analysis of Intermittent Measurement for KF-based SLAM
title_fullStr	Analysis of Intermittent Measurement for KF-based SLAM
title_full_unstemmed	Analysis of Intermittent Measurement for KF-based SLAM
title_sort	analysis of intermittent measurement for kf-based slam
publishDate	2013
url	http://umpir.ump.edu.my/id/eprint/5680/ http://umpir.ump.edu.my/id/eprint/5680/1/InECCE_2013_Aqilah_Othman.pdf
first_indexed	2023-09-18T22:01:03Z
last_indexed	2023-09-18T22:01:03Z
_version_	1777414401154875392

Analysis of Intermittent Measurement for KF-based SLAM

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