TY - GEN
T1 - Improvement of the measurement update step of EKF-SLAM
AU - Kurt Yavuz, Zeyneb
AU - Yavuz, Sirma
PY - 2012/10/1
Y1 - 2012/10/1
N2 - In this study, the measurement update step of the Extended Kalman Filter (EKF)-based Simultaneous Localization and Mapping (SLAM) is improved. The computational complexity of the measurement uncertainty matrix inversion operation in the measurement update step is reduced via using Jacobi iteration method. It is observed that, the calculation of the measurement uncertainty matrix inverse by using Jacobi iteration method generates numerically more stable results than naive single and batch update operations. Moreover, it produces more accurate results than the results of Cholesky decomposition with less complexity.
AB - In this study, the measurement update step of the Extended Kalman Filter (EKF)-based Simultaneous Localization and Mapping (SLAM) is improved. The computational complexity of the measurement uncertainty matrix inversion operation in the measurement update step is reduced via using Jacobi iteration method. It is observed that, the calculation of the measurement uncertainty matrix inverse by using Jacobi iteration method generates numerically more stable results than naive single and batch update operations. Moreover, it produces more accurate results than the results of Cholesky decomposition with less complexity.
UR - http://www.scopus.com/inward/record.url?scp=84866698559&partnerID=8YFLogxK
U2 - 10.1109/INES.2012.6249803
DO - 10.1109/INES.2012.6249803
M3 - Conference contribution
AN - SCOPUS:84866698559
SN - 9781467326957
T3 - INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings
SP - 61
EP - 65
BT - INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings
T2 - IEEE 16th International Conference on Intelligent Engineering Systems, INES 2012
Y2 - 13 June 2012 through 15 June 2012
ER -