UKF vs EKF performance

asked 2019-08-27 14:58:07 -0500

mugetsu gravatar image

I hear alot about how UKF is better than EKF at the cost of CPU usage. How much are we talking about here in terms of the robot_localization ekf and ukf nodes?

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What metrics are you looking for? These are really well documented algorithms used across many industries. I'd recommend consulting research and benchmark papers. This isn't specific to robot localization.

stevemacenski gravatar imagestevemacenski ( 2019-08-27 17:11:31 -0500 )edit

@stevemacenski:

at the cost of CPU usage

so it would appear the metric OP is interested in is "CPU usage".

gvdhoorn gravatar imagegvdhoorn ( 2019-08-28 03:05:45 -0500 )edit

For most localization methods I would expect these things to be use-case specific. It is probably true that you can rank methods from heavy on the CPU to lightweight, but depending on the size of your map, amount of landmarks/features your sampling methods etc. the differences between methods will change. I don't think you'll find an easy answer to this question (besides collecting your own empirical results). If you don't want to perform real life testing or simulation then at least provide us with more information about your use-case. This way people that have experimented with these methods before using similar setups may be able to provide you with some rough estimates.

MCornelis gravatar imageMCornelis ( 2019-08-28 04:56:05 -0500 )edit

For most localization methods I would expect these things to be use-case specific. It is probably true that you can rank methods from heavy on the CPU to lightweight, but depending on the size of your map, amount of landmarks/features your sampling methods etc. the differences between methods will change.

Slightly off-topic, but: big-O analysis and similar methods can definitely be used to express the (runtime) complexity of algorithms, without having to use benchmarking. It would allow to compare algorithms based on their input sizes (ie: "size of your map, amount of landmarks/features your sampling methods etc") and say something about which would outperform which.

Whether that exists for these specific algorithms is something else.

gvdhoorn gravatar imagegvdhoorn ( 2019-08-28 05:31:52 -0500 )edit

This is true but I don't think the difference between UKF and EKF is of that magnitude (I could be wrong here), if one would be O(n) and the other O(n^2) for instance, then yes of course you could get a pretty good idea based on the size of your input.

MCornelis gravatar imageMCornelis ( 2019-08-28 06:33:16 -0500 )edit