The Effect of Intermittent Measurement in Simultaneous Localization and Mapping

Intermittent measurement is defined as a situation where a mobile robot experiences loss of measurement data during observation due to sensor failure or imperfection of the system. The impact of intermittent measurement on the Simultaneous Localization and Mapping (SLAM) of a mobile robot is the sub...

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Main Authors:	Nur Aqilah, Othman, Hamzah, Ahmad
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/6555/ http://umpir.ump.edu.my/id/eprint/6555/ http://umpir.ump.edu.my/id/eprint/6555/1/The_Effect_Of_Intermittent_Measurement_In_Simultaneous_Localization_And_Mapping.pdf

id	ump-6555
recordtype	eprints
spelling	ump-65552018-02-05T07:18:16Z http://umpir.ump.edu.my/id/eprint/6555/ The Effect of Intermittent Measurement in Simultaneous Localization and Mapping Nur Aqilah, Othman Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering Intermittent measurement is defined as a situation where a mobile robot experiences loss of measurement data during observation due to sensor failure or imperfection of the system. The impact of intermittent measurement on the Simultaneous Localization and Mapping (SLAM) of a mobile robot is the subject of this paper. The analysis is important since SLAM requires recursive measurement data update throughout the process. In this paper, the effect of intermittent measurement on the state error covariance matrix was analyzed on two basic conditions, which are when the mobile robot is stationary and when it is in motion. We have observed the impact on the determinant of covariance matrix. It is proven by our analysis that intermittent measurement could cause inaccurate estimation of robot's position and might increase the state error covariance matrix. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6555/1/The_Effect_Of_Intermittent_Measurement_In_Simultaneous_Localization_And_Mapping.pdf Nur Aqilah, Othman and Hamzah, Ahmad (2013) The Effect of Intermittent Measurement in Simultaneous Localization and Mapping. In: Control System, Computing and Engineering (ICCSCE), 29 Nov - 1 Dec 2013 , Mindeb. pp. 152-156.. http://dx.doi.org/10.1109/ICCSCE.2013.6719950
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 The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
description	Intermittent measurement is defined as a situation where a mobile robot experiences loss of measurement data during observation due to sensor failure or imperfection of the system. The impact of intermittent measurement on the Simultaneous Localization and Mapping (SLAM) of a mobile robot is the subject of this paper. The analysis is important since SLAM requires recursive measurement data update throughout the process. In this paper, the effect of intermittent measurement on the state error covariance matrix was analyzed on two basic conditions, which are when the mobile robot is stationary and when it is in motion. We have observed the impact on the determinant of covariance matrix. It is proven by our analysis that intermittent measurement could cause inaccurate estimation of robot's position and might increase the state error covariance matrix.
format	Conference or Workshop Item
author	Nur Aqilah, Othman Hamzah, Ahmad
author_facet	Nur Aqilah, Othman Hamzah, Ahmad
author_sort	Nur Aqilah, Othman
title	The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_short	The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_full	The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_fullStr	The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_full_unstemmed	The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_sort	effect of intermittent measurement in simultaneous localization and mapping
publishDate	2013
url	http://umpir.ump.edu.my/id/eprint/6555/ http://umpir.ump.edu.my/id/eprint/6555/ http://umpir.ump.edu.my/id/eprint/6555/1/The_Effect_Of_Intermittent_Measurement_In_Simultaneous_Localization_And_Mapping.pdf
first_indexed	2023-09-18T22:02:25Z
last_indexed	2023-09-18T22:02:25Z
_version_	1777414487009132544

The Effect of Intermittent Measurement in Simultaneous Localization and Mapping

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