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