An Approach to Reduce Computational Cost for Localization Problem

An Approach to Reduce Computational Cost for Localization Problem

One of the biggest factors that contribute to the computational cost of extended Kalman filter-based SLAM is the covariance update. This is due to the multiplications of the covariance matrix with other parameters and the increment of its dimension, which is twice the number of landmarks. Therefore...

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Main Authors: Nur Aqilah, Othman, Hamzah, Ahmad
Format: Conference or Workshop Item
Language:English
English
Published: 2014
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/9786/
http://umpir.ump.edu.my/id/eprint/9786/1/An%20Approach%20to%20Reduce%20Computational%20Cost%20for%20Localization%20Problem.pdf
http://umpir.ump.edu.my/id/eprint/9786/7/An%20Approach%20to%20Reduce%20Computational%20Cost%20for%20Localization%20Problem%20-%20Abstract.pdf
id ump-9786
recordtype eprints
spelling ump-97862018-02-05T07:13:50Z http://umpir.ump.edu.my/id/eprint/9786/ An Approach to Reduce Computational Cost for Localization Problem Nur Aqilah, Othman Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering One of the biggest factors that contribute to the computational cost of extended Kalman filter-based SLAM is the covariance update. This is due to the multiplications of the covariance matrix with other parameters and the increment of its dimension, which is twice the number of landmarks. Therefore a study is conducted to find a possible technique to decrease the computational complexity of the covariance matrix without minimizing the accuracy of the state estimation. This paper presents a preliminary study on the matrixdiagonalization technique, which is applied to the covariance matrix in EKF-based SLAM to simplify the multiplication process. The behaviors of estimation and covariance are observed based on three case studies. 2014 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9786/1/An%20Approach%20to%20Reduce%20Computational%20Cost%20for%20Localization%20Problem.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/9786/7/An%20Approach%20to%20Reduce%20Computational%20Cost%20for%20Localization%20Problem%20-%20Abstract.pdf Nur Aqilah, Othman and Hamzah, Ahmad (2014) An Approach to Reduce Computational Cost for Localization Problem. In: Colloquium on Robotics, Unmanned Systems And Cybernetics 2014 (CRUSC 2014), 20 Nov 2014 , Universiti Malaysia Pahang. pp. 37-43..
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
An Approach to Reduce Computational Cost for Localization Problem
description One of the biggest factors that contribute to the computational cost of extended Kalman filter-based SLAM is the covariance update. This is due to the multiplications of the covariance matrix with other parameters and the increment of its dimension, which is twice the number of landmarks. Therefore a study is conducted to find a possible technique to decrease the computational complexity of the covariance matrix without minimizing the accuracy of the state estimation. This paper presents a preliminary study on the matrixdiagonalization technique, which is applied to the covariance matrix in EKF-based SLAM to simplify the multiplication process. The behaviors of estimation and covariance are observed based on three case studies.
format Conference or Workshop Item
author Nur Aqilah, Othman
Hamzah, Ahmad
author_facet Nur Aqilah, Othman
Hamzah, Ahmad
author_sort Nur Aqilah, Othman
title An Approach to Reduce Computational Cost for Localization Problem
title_short An Approach to Reduce Computational Cost for Localization Problem
title_full An Approach to Reduce Computational Cost for Localization Problem
title_fullStr An Approach to Reduce Computational Cost for Localization Problem
title_full_unstemmed An Approach to Reduce Computational Cost for Localization Problem
title_sort approach to reduce computational cost for localization problem
publishDate 2014
url http://umpir.ump.edu.my/id/eprint/9786/
http://umpir.ump.edu.my/id/eprint/9786/1/An%20Approach%20to%20Reduce%20Computational%20Cost%20for%20Localization%20Problem.pdf
http://umpir.ump.edu.my/id/eprint/9786/7/An%20Approach%20to%20Reduce%20Computational%20Cost%20for%20Localization%20Problem%20-%20Abstract.pdf
first_indexed 2023-09-18T22:08:43Z
last_indexed 2023-09-18T22:08:43Z
_version_ 1777414883483058176

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