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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2019
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Online Access: | 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/22872/16/Diagonalization%20of%20Covariance%20Matrix%20in%20Simultaneous%20Localization.pdf http://umpir.ump.edu.my/id/eprint/22872/ https://doi.org/10.1007/978-981-13-3708-6_24 |
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my.ump.umpir.228722021-11-29T02:03:46Z 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 2019 Conference or Workshop Item PeerReviewed 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/22872/16/Diagonalization%20of%20Covariance%20Matrix%20in%20Simultaneous%20Localization.pdf Maziatun, Mohamad Mazlan and Nur Aqilah, Othman and Hamzah, Ahmad (2019) 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, 27-28 September 2018 , Universiti Malaysia Pahang. pp. 285-297., 538. ISBN 978-981-13-3708-6 https://doi.org/10.1007/978-981-13-3708-6_24 DOI: https://doi.org/10.1007/978-981-13-3708-6_24 |
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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 |
Conference or Workshop Item |
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 |
2019 |
url |
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/22872/16/Diagonalization%20of%20Covariance%20Matrix%20in%20Simultaneous%20Localization.pdf http://umpir.ump.edu.my/id/eprint/22872/ https://doi.org/10.1007/978-981-13-3708-6_24 |
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