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All Journal Mechatronics, Electrical Power, and Vehicular Technology The Indonesian Accounting Review BJRA (Bongaya Journal of Research in Accounting) Research In Management and Accounting (RIMA) JASF (Journal of Accounting and Strategic Finance) Amnesty: Jurnal Riset Perpajakan INVOICE : JURNAL ILMU AKUNTANSI Journal of Accounting and Finance (JAF) Center of Economic Students Journal (CSEJ) Paradoks : Jurnal Ilmu Ekonomi Advances in Applied Accounting Research Advances in Managerial Auditing Research Research In Management and Accounting (RIMA)
Hamzah Ahmad, Hamzah
Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan Campus
Economics, Econometrics & Finance Education Electrical & Electronics Engineering Environmental Science Social Sciences Other

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Journal : Mechatronics, Electrical Power, and Vehicular Technology

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Review of Kalman filter variants for SLAM in mobile robotics with linearization and covariance initialization Gusrial, Muhammad Haniff; Othman, Nur Aqilah; Ahmad, Hamzah; Hassan, Mohd Hasnun Arif
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 16, No 1 (2025)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/j.mev.2025.1096

Abstract

Simultaneous localization and mapping (SLAM) has become a foundational concept in robotics navigation which enabling autonomous systems to build maps of unknown environments while estimating their own position. This article aims to provide a comprehensive review of the SLAM concept in the context of mobile robotics navigation by focusing on theoretical principles, estimation problems, algorithms involved, and related applications. The existing literature is systematically analyzed and classified based on three main perspectives of navigation, which are localization, mapping, and path planning. Particular attention is given to Kalman filters and their variants in SLAM-based systems, along with crucial consideration of the linearization and covariance initialization. This article identifies the strengths and limitations of current SLAM approaches. Therefore, this article concludes by outlining research gaps and recommending directions for future exploration, with the intention of serving as a foundation for continued innovation in SLAM-based robotic navigation systems.
Co-Authors Amiruddin Basri, Andi Cahaya Laela Damayanti, Dwi Selvira Darwis Lannai Farinal, Putri Regita Gusrial, Muhammad Haniff Hassan, Mohd Hasnun Arif Ikhtiari, Kirana Junaid, Asriani Khafifah, Ainun Khairunnisa, Aqilah Laekkeng, Mursalim M, Nurul Ilmy Muhammad Abduh Mukhlis, Armilda Sartika Agrippina Mursalim Mursalim Mus, Abdul Rahman Muslim Muslim Nur Aqilah Othman, Nur Aqilah Nurfadila Nurfadila, Nurfadila Nurwakia, Nurwakia Nurwanah, Andi Pahlevi, Lola Venna Pramukti, Andika Rahim, Syamsuri Ratna Sari Saffanah, Nurina Saputri, Sri Ayu Shaleh, Musliha Yundari, Yundari