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.

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Martin P. Parsley, Simon J. Julier
• Keywords: Inverse Depth Parameterisation, IROS 2008, Negative Estimated Depth, Order filters, Robotics