Lab Meeting November 11, 2009 (swem): Avoiding Negative Depth in Inverse Depth Bearing-Only SLAM (IROS 2008)

Title: Avoiding Negative Depth in Inverse Depth Bearing-Only SLAM

(2008 IEEE/RSJ International Conference on Intelligent Robots and Systems)

Author: Martin P. Parsley and Simon J. Julier

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.

Link: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4651118