diff --git a/matrix/Matrix.hpp b/matrix/Matrix.hpp
index 97e1ebf76f..e54c99a257 100644
--- a/matrix/Matrix.hpp
+++ b/matrix/Matrix.hpp
@@ -96,9 +96,7 @@ public:
 
     inline const Type &operator()(size_t i, size_t j) const
     {
-        assert(i >= 0);
         assert(i < M);
-        assert(j >= 0);
         assert(j < N);
 
         return _data[i][j];
@@ -106,9 +104,7 @@ public:
 
     inline Type &operator()(size_t i, size_t j)
     {
-        assert(i >= 0);
         assert(i < M);
-        assert(j >= 0);
         assert(j < N);
 
         return _data[i][j];
@@ -494,9 +490,7 @@ public:
 
     inline void swapRows(size_t a, size_t b)
     {
-        assert(a >= 0);
         assert(a < M);
-        assert(b >= 0);
         assert(b < M);
 
         if (a == b) {
@@ -514,9 +508,7 @@ public:
 
     inline void swapCols(size_t a, size_t b)
     {
-        assert(a >= 0);
         assert(a < N);
-        assert(b >= 0);
         assert(b < N);
 
         if (a == b) {
diff --git a/matrix/Slice.hpp b/matrix/Slice.hpp
index faf211ca73..4040099839 100644
--- a/matrix/Slice.hpp
+++ b/matrix/Slice.hpp
@@ -28,17 +28,13 @@ public:
         _data(const_cast<Matrix<Type, M, N>*>(data)) {
         static_assert(P <= M, "Slice rows bigger than backing matrix");
         static_assert(Q <= N, "Slice cols bigger than backing matrix");
-        assert(x0 >= 0);
         assert(x0 + P <= M);
-        assert(y0 >= 0);
         assert(y0 + Q <= N);
     }
 
     const Type &operator()(size_t i, size_t j) const
     {
-        assert(i >= 0);
         assert(i < P);
-        assert(j >= 0);
         assert(j < Q);
 
         return (*_data)(_x0 + i, _y0 + j);
@@ -47,9 +43,7 @@ public:
     Type &operator()(size_t i, size_t j)
 
     {
-        assert(i >= 0);
         assert(i < P);
-        assert(j >= 0);
         assert(j < Q);
 
         return (*_data)(_x0 + i, _y0 + j);
diff --git a/matrix/SquareMatrix.hpp b/matrix/SquareMatrix.hpp
index 216ff172d8..8c35351664 100644
--- a/matrix/SquareMatrix.hpp
+++ b/matrix/SquareMatrix.hpp
@@ -136,7 +136,6 @@ public:
     void uncorrelateCovariance(size_t first)
     {
         static_assert(Width <= M, "Width bigger than matrix");
-        assert(first >= 0);
         assert(first + Width <= M);
 
         SquareMatrix<Type, M> &self = *this;
@@ -148,7 +147,6 @@ public:
     void uncorrelateCovarianceSetVariance(size_t first, const Vector<Type, Width> &vec)
     {
         static_assert(Width <= M, "Width bigger than matrix");
-        assert(first >= 0);
         assert(first + Width <= M);
 
         SquareMatrix<Type, M> &self = *this;
@@ -168,7 +166,6 @@ public:
     void uncorrelateCovarianceSetVariance(size_t first, Type val)
     {
         static_assert(Width <= M, "Width bigger than matrix");
-        assert(first >= 0);
         assert(first + Width <= M);
 
         SquareMatrix<Type, M> &self = *this;
@@ -187,7 +184,6 @@ public:
     void makeBlockSymmetric(size_t first)
     {
         static_assert(Width <= M, "Width bigger than matrix");
-        assert(first >= 0);
         assert(first + Width <= M);
 
         SquareMatrix<Type, M> &self = *this;
@@ -207,7 +203,6 @@ public:
     void makeRowColSymmetric(size_t first)
     {
         static_assert(Width <= M, "Width bigger than matrix");
-        assert(first >= 0);
         assert(first + Width <= M);
 
         SquareMatrix<Type, M> &self = *this;
@@ -231,7 +226,6 @@ public:
     bool isBlockSymmetric(size_t first, const Type eps = 1e-8f)
     {
         static_assert(Width <= M, "Width bigger than matrix");
-        assert(first >= 0);
         assert(first + Width <= M);
 
         SquareMatrix<Type, M> &self = *this;
@@ -252,7 +246,6 @@ public:
     bool isRowColSymmetric(size_t first, const Type eps = 1e-8f)
     {
         static_assert(Width <= M, "Width bigger than matrix");
-        assert(first >= 0);
         assert(first + Width <= M);
 
         SquareMatrix<Type, M> &self = *this;
diff --git a/matrix/Vector.hpp b/matrix/Vector.hpp
index e9c0d1f1ab..e5bdd43dc5 100644
--- a/matrix/Vector.hpp
+++ b/matrix/Vector.hpp
@@ -42,7 +42,6 @@ public:
 
     inline const Type &operator()(size_t i) const
     {
-        assert(i >= 0);
         assert(i < M);
 
         const MatrixM1 &v = *this;
@@ -51,7 +50,6 @@ public:
 
     inline Type &operator()(size_t i)
     {
-        assert(i >= 0);
         assert(i < M);
 
         MatrixM1 &v = *this;