Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot

• Main Authors: Maziatun, Mohamad Mazlan, Nur Aqilah, Othman, Hamzah, Ahmad
• Format: Conference or Workshop Item
• Language: English
• Published: Springer 2022
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/32672/1/Improving%20Covariance%20Matrix.pdf; http://umpir.ump.edu.my/id/eprint/32672/; https://doi.org/10.1007/978-981-16-2406-3_73

Diagonalization of covariance matrix through eigenvalue approach in extended Kalman Filter (EKF)-based simultaneous localization and mapping (SLAM) of mobile robot has been studied, as one of the possible approaches in reducing complexity hence computational cost of the system. However, the estimati...