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- W2146822832 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 successful. However, the most robust performance is achieved using the negative log parameterisation." @default.
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- W2146822832 date "2008-09-01" @default.
- W2146822832 modified "2023-09-27" @default.
- W2146822832 title "Avoiding negative depth in inverse depth bearing-only SLAM" @default.
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- W2146822832 doi "https://doi.org/10.1109/iros.2008.4651118" @default.
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