Data association analysis in simultaneous localization and mapping problem
This paper examines the data association issues in Simultaneous Localization and Mapping Problem on two different techniques. Data association determines the system efficiency and there are limited numbers of papers attempts to analyze the conditions. Two filters namely the Extended Kalman Filter(EK...
| Main Authors: | , , , , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Universiti Malaysia Pahang
2018
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/24437/ http://umpir.ump.edu.my/id/eprint/24437/2/95.1%20Data%20association%20analysis%20in%20simultaneous%20localization.pdf |
| _version_ | 1848822031245639680 |
|---|---|
| author | Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Bakiss Hiyana, Abu Bakar |
| author_facet | Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Bakiss Hiyana, Abu Bakar |
| author_sort | Hamzah, Ahmad |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper examines the data association issues in Simultaneous Localization and Mapping Problem on two different techniques. Data association determines the system efficiency and there are limited numbers of papers attempts to analyze the conditions. Two filters namely the Extended Kalman Filter(EKF) and H∞ Filters are considered in this paper to improved the estimation results of both mobile robot and the environment locations. The updated state covariance is modified to obtain better performance compared to its original state. The simulation results have shown consistency and lower percentage of errors for the proposed technique. However, there are certain cases that showing the updated state covariance becomes unstable and yields erroneous results especially for EKF. Hence, further works are expected to be carried for this matter. |
| first_indexed | 2025-11-15T02:34:46Z |
| format | Conference or Workshop Item |
| id | ump-24437 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:34:46Z |
| publishDate | 2018 |
| publisher | Universiti Malaysia Pahang |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-244372019-10-18T01:13:45Z http://umpir.ump.edu.my/id/eprint/24437/ Data association analysis in simultaneous localization and mapping problem Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Bakiss Hiyana, Abu Bakar TK Electrical engineering. Electronics Nuclear engineering This paper examines the data association issues in Simultaneous Localization and Mapping Problem on two different techniques. Data association determines the system efficiency and there are limited numbers of papers attempts to analyze the conditions. Two filters namely the Extended Kalman Filter(EKF) and H∞ Filters are considered in this paper to improved the estimation results of both mobile robot and the environment locations. The updated state covariance is modified to obtain better performance compared to its original state. The simulation results have shown consistency and lower percentage of errors for the proposed technique. However, there are certain cases that showing the updated state covariance becomes unstable and yields erroneous results especially for EKF. Hence, further works are expected to be carried for this matter. Universiti Malaysia Pahang 2018-10 Conference or Workshop Item NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24437/2/95.1%20Data%20association%20analysis%20in%20simultaneous%20localization.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Mohd Mawardi, Saari and Mohd Syakirin, Ramli and Bakiss Hiyana, Abu Bakar (2018) Data association analysis in simultaneous localization and mapping problem. In: International Conference On Artificial Intelligence And Robotics For Industrial Applications 2018 (AIR2018) , 28-29 November 2018 , Putrajaya, Malaysia. pp. 1-7.. (Unpublished) (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Bakiss Hiyana, Abu Bakar Data association analysis in simultaneous localization and mapping problem |
| title | Data association analysis in simultaneous localization and mapping problem |
| title_full | Data association analysis in simultaneous localization and mapping problem |
| title_fullStr | Data association analysis in simultaneous localization and mapping problem |
| title_full_unstemmed | Data association analysis in simultaneous localization and mapping problem |
| title_short | Data association analysis in simultaneous localization and mapping problem |
| title_sort | data association analysis in simultaneous localization and mapping problem |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/24437/ http://umpir.ump.edu.my/id/eprint/24437/2/95.1%20Data%20association%20analysis%20in%20simultaneous%20localization.pdf |