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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Institution:	Universiti Malaysia Perlis
Language:	English

id	my.unimap-26999
record_format	dspace
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

EKF-SLAM statistical bounds considering intermittent measurements

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