Analysis of Intermittent Measurement for KF-based SLAM
This paper investigates the impact of intermittent measurement to the Simultaneous Localization and Mapping (SLAM) of a mobile robot. Intermittent measurement is a condition when the mobile robot lost its measurement data during observations due to sensor failure or imperfection of the system. S...
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2013
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my.ump.umpir.56802018-02-05T07:15:15Z http://umpir.ump.edu.my/id/eprint/5680/ Analysis of Intermittent Measurement for KF-based SLAM Nur Aqilah, Othman Hamzah, Ahmad Saifudin, Razali TK Electrical engineering. Electronics Nuclear engineering This paper investigates the impact of intermittent measurement to the Simultaneous Localization and Mapping (SLAM) of a mobile robot. Intermittent measurement is a condition when the mobile robot lost its measurement data during observations due to sensor failure or imperfection of the system. SLAM is an estimation process that requires measurement data recursively for data update. The analysis focused on the effect of intermittent measurement on the position estimation and state error covariance during intermittent and after intermittent occurred. From the analysis, it can be concluded that intermittent measurement may lead to incorrect estimation of robot pose and its error covariance. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/5680/1/InECCE_2013_Aqilah_Othman.pdf Nur Aqilah, Othman and Hamzah, Ahmad and Saifudin, Razali (2013) Analysis of Intermittent Measurement for KF-based SLAM. In: International Conference on Electrical, Control and Computer Engineering (InECCE 2013), 27-28 August 2013 , M.S Garden Hotel Kuantan, Pahang. pp. 1-5.. (Unpublished) |
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TK Electrical engineering. Electronics Nuclear engineering |
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TK Electrical engineering. Electronics Nuclear engineering Nur Aqilah, Othman Hamzah, Ahmad Saifudin, Razali Analysis of Intermittent Measurement for KF-based SLAM |
| description |
This paper investigates the impact of intermittent
measurement to the Simultaneous Localization and Mapping
(SLAM) of a mobile robot. Intermittent measurement is a
condition when the mobile robot lost its measurement data
during observations due to sensor failure or imperfection of the system. SLAM is an estimation process that requires
measurement data recursively for data update. The analysis
focused on the effect of intermittent measurement on the position estimation and state error covariance during intermittent and after intermittent occurred. From the analysis, it can be concluded that intermittent measurement may lead to incorrect estimation of robot pose and its error covariance. |
| format |
Conference or Workshop Item |
| author |
Nur Aqilah, Othman Hamzah, Ahmad Saifudin, Razali |
| author_facet |
Nur Aqilah, Othman Hamzah, Ahmad Saifudin, Razali |
| author_sort |
Nur Aqilah, Othman |
| title |
Analysis of Intermittent Measurement for KF-based SLAM |
| title_short |
Analysis of Intermittent Measurement for KF-based SLAM |
| title_full |
Analysis of Intermittent Measurement for KF-based SLAM |
| title_fullStr |
Analysis of Intermittent Measurement for KF-based SLAM |
| title_full_unstemmed |
Analysis of Intermittent Measurement for KF-based SLAM |
| title_sort |
analysis of intermittent measurement for kf-based slam |
| publishDate |
2013 |
| url |
http://umpir.ump.edu.my/id/eprint/5680/1/InECCE_2013_Aqilah_Othman.pdf http://umpir.ump.edu.my/id/eprint/5680/ |
| _version_ |
1822916283074609152 |
| score |
13.251572 |