Samsuri, Saiful Bahri and Zamzuri, Hairi and Abdul Rahman, Mohd. Azizi and Mazlan, Saiful Amri and Abd. Rahman, Abdul Hadi (2015) Computational cost analysis of extended Kalman filter in simultaneous localization and mapping (EKF-SLAM) problem for autonomous vehicle. ARPN Journal Of Engineering And Applied Sciences, 10 (17). pp. 7764-7768. ISSN 1819-6608
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Official URL: http://www.arpnjournals.com/jeas/research_papers/r...
Abstract
Extended Kalman filter (EKF) based solution is one of the most popular techniques for solving simultaneouslocalization and mapping (SLAM) problem. However, previous research showed the implementation of EKF for SLAMsuffered with high computational costs, which affect the performance inreal time application. This paper investigates thecomputational cost performance of an EKF-SLAM algorithm. The analysiswas done by time measurement on sub-stepmotion update and measurement update on EKF by considering the total numbers of landmarks and numerous setting onrange observation distance. The analytical results show that as the number oflandmarks or range observation distancesincreased, the computational cost in measurement update step required more computation time compare to motion updatestep. Furthermore, improvements are needed to optimize the computational cost for the update step.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | extended kalman filter, slam, computational cost |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Malaysia-Japan International Institute of Technology |
| ID Code: | 58133 |
| Deposited By: | Haliza Zainal |
| Deposited On: | 04 Dec 2016 04:07 |
| Last Modified: | 10 Apr 2022 00:18 |
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