Avoiding negative depth in inverse depth bearing-only SLAM

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Avoiding negative depth in inverse depth bearing-only SLAM

Parsley, MP; Julier, SJ; (2008) Avoiding negative depth in inverse depth bearing-only SLAM. In: (pp. pp. 2066-2071). Green open access

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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. ©2008 IEEE.

Type:	Proceedings paper
Title:	Avoiding negative depth in inverse depth bearing-only SLAM
ISBN-13:	9781424420582
Open access status:	An open access version is available from UCL Discovery
DOI:	10.1109/IROS.2008.4651118
UCL classification:	UCL UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI:	https://discovery.ucl.ac.uk/id/eprint/16750