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2008
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Avoiding negative depth in inverse depth bearing-only SLAM

10 years 4 months ago
Avoiding negative depth in inverse depth bearing-only SLAM
Abstract— In this paper we consider ways to alleviate negative estimated depth for the inverse depth parameterisation of bearing-only SLAM. This problem, which can arise even if the beacons are far from the platform, can cause catastrophic failure of the filter. We consider three strategies to overcome this difficulty: applying inequality constraints, the use of truncated second order filters, and a reparameterisation using the negative logarithm of depth. We show that both a simple inequality method and the use of truncated second order filters are succesful. However, the most robust peformance is achieved using the negative log parameterisation.
Martin P. Parsley, Simon J. Julier
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Martin P. Parsley, Simon J. Julier
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