An Approach to Reduce Computational Cost for Localization Problem

• 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/9786/1/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; http://umpir.ump.edu.my/id/eprint/9786/

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...