An Approach to Reduce Computational Cost for Localization Problem
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...
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2014
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| الوصول للمادة أونلاين: | 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/ |
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my.ump.umpir.97862018-02-05T07:13:50Z http://umpir.ump.edu.my/id/eprint/9786/ An Approach to Reduce Computational Cost for Localization Problem Nur Aqilah, Othman Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering 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 a study is conducted to find a possible technique to decrease the computational complexity of the covariance matrix without minimizing the accuracy of the state estimation. This paper presents a preliminary study on the matrixdiagonalization technique, which is applied to the covariance matrix in EKF-based SLAM to simplify the multiplication process. The behaviors of estimation and covariance are observed based on three case studies. 2014 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9786/1/An%20Approach%20to%20Reduce%20Computational%20Cost%20for%20Localization%20Problem.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/9786/7/An%20Approach%20to%20Reduce%20Computational%20Cost%20for%20Localization%20Problem%20-%20Abstract.pdf Nur Aqilah, Othman and Hamzah, Ahmad (2014) An Approach to Reduce Computational Cost for Localization Problem. In: Colloquium on Robotics, Unmanned Systems And Cybernetics 2014 (CRUSC 2014), 20 Nov 2014 , Universiti Malaysia Pahang. pp. 37-43.. |
| institution |
Universiti Malaysia Pahang Al-Sultan Abdullah |
| building |
UMPSA Library |
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Institutional Repository |
| continent |
Asia |
| country |
Malaysia |
| content_provider |
Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source |
UMPSA Institutional Repository |
| url_provider |
http://umpir.ump.edu.my/ |
| language |
English English |
| topic |
TK Electrical engineering. Electronics Nuclear engineering |
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TK Electrical engineering. Electronics Nuclear engineering Nur Aqilah, Othman Hamzah, Ahmad An Approach to Reduce Computational Cost for Localization Problem |
| description |
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 a study is conducted to find a possible technique to decrease the computational complexity of the covariance matrix without minimizing the accuracy of the state estimation. This paper presents a preliminary study on the matrixdiagonalization technique, which is applied to the covariance matrix in EKF-based SLAM to simplify the multiplication process. The behaviors of estimation and covariance are observed based on three case studies. |
| format |
Conference or Workshop Item |
| author |
Nur Aqilah, Othman Hamzah, Ahmad |
| author_facet |
Nur Aqilah, Othman Hamzah, Ahmad |
| author_sort |
Nur Aqilah, Othman |
| title |
An Approach to Reduce Computational Cost for Localization Problem |
| title_short |
An Approach to Reduce Computational Cost for Localization Problem |
| title_full |
An Approach to Reduce Computational Cost for Localization Problem |
| title_fullStr |
An Approach to Reduce Computational Cost for Localization Problem |
| title_full_unstemmed |
An Approach to Reduce Computational Cost for Localization Problem |
| title_sort |
approach to reduce computational cost for localization problem |
| publishDate |
2014 |
| url |
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/ |
| _version_ |
1822916962139766784 |
| score |
13.251813 |