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EKF-SLAM statistical bounds considering intermittent measurements

Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis.

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Bibliographic Details
Main Authors: Hamzah, Ahmad, Namerikawa, Toru
Other Authors: hamzah.ahmd@gmail.com
Format: Working Paper
Language:English
Published: Malaysian Technical Universities Network (MTUN) 2013
Subjects:
EKF-SLAM
Intermittent measurement
Fisher Information Matrix (FIM)
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/26999
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spelling my.unimap-269992013-07-23T07:27:33Z EKF-SLAM statistical bounds considering intermittent measurements Hamzah, Ahmad Namerikawa, Toru hamzah.ahmd@gmail.com namerikawa@sd.keio.ac.jp EKF-SLAM Intermittent measurement Fisher Information Matrix (FIM) Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis. This paper presents a theoretical study of intermittent measurement in EKF-SLAM(Simultaneous Localization and Mapping) Problem. We propose the analysis of FIM(Fisher Information Matrix) to illustrate the uncertainties statistical bounds whenever measurement data is not arrived to the system. The FIM explains the behavior of information when a measurement data is partially unavailable and therefore its existence is important to describe the system performance. The information obtained from the updated state error covariance demonstrates that the resultant state error covariance never exceeds this boundaries if a measurement data is missing during mobile robot observations. Simulation under certain conditions consistently assures the results is agreeing with the proposed analysis. 2013-07-23T07:27:33Z 2013-07-23T07:27:33Z 2012-11-20 Working Paper p. 163-168 http://hdl.handle.net/123456789/26999 en Proceedings of the Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 Malaysian Technical Universities Network (MTUN)
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic EKF-SLAM
Intermittent measurement
Fisher Information Matrix (FIM)
spellingShingle EKF-SLAM
Intermittent measurement
Fisher Information Matrix (FIM)
Hamzah, Ahmad
Namerikawa, Toru
EKF-SLAM statistical bounds considering intermittent measurements
description Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis.
author2 hamzah.ahmd@gmail.com
author_facet hamzah.ahmd@gmail.com
Hamzah, Ahmad
Namerikawa, Toru
format Working Paper
author Hamzah, Ahmad
Namerikawa, Toru
author_sort Hamzah, Ahmad
title EKF-SLAM statistical bounds considering intermittent measurements
title_short EKF-SLAM statistical bounds considering intermittent measurements
title_full EKF-SLAM statistical bounds considering intermittent measurements
title_fullStr EKF-SLAM statistical bounds considering intermittent measurements
title_full_unstemmed EKF-SLAM statistical bounds considering intermittent measurements
title_sort ekf-slam statistical bounds considering intermittent measurements
publisher Malaysian Technical Universities Network (MTUN)
publishDate 2013
url http://dspace.unimap.edu.my/xmlui/handle/123456789/26999
_version_ 1643795017611870208
score 13.214268

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