A hypothesis of state covariance decorrelation effects to partial observability SLAM

• Main Authors: Hamzah, Ahmad, Nur Aqilah, Othman, Mohd Mawardi, Saari, Mohd Syakirin, Ramli, M. A., Bakar
• Format: Conference or Workshop Item
• Language: English; English
• Published: 2018
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/22341/1/9.%20A%20hypothesis%20of%20state%20covariance%20decorrelation%20effects%20to%20partial%20observability%20SLAM.pdf; http://umpir.ump.edu.my/id/eprint/22341/2/9.1%20A%20hypothesis%20of%20state%20covariance%20decorrelation%20effects%20to%20partial%20observability%20SLAM.pdf; http://umpir.ump.edu.my/id/eprint/22341/

This paper analyze the performance of partial observability in simultaneous localization and mapping(SLAM) problem. The study focuses mainly on the effect of having a decorrelation technique known as Covariance Inflation to the estimation. The matrix inversion will be the main element to be investig...