RatSLAM : a hippocampal model for simultaneous localization and mapping
Data(s) |
06/07/2004
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Resumo |
The work presents a new approach to the problem of simultaneous localization and mapping - SLAM - inspired by computational models of the hippocampus of rodents. The rodent hippocampus has been extensively studied with respect to navigation tasks, and displays many of the properties of a desirable SLAM solution. RatSLAM is an implementation of a hippocampal model that can perform SLAM in real time on a real robot. It uses a competitive attractor network to integrate odometric information with landmark sensing to form a consistent representation of the environment. Experimental results show that RatSLAM can operate with ambiguous landmark information and recover from both minor and major path integration errors. |
Formato |
application/pdf |
Identificador | |
Publicador |
IEEE |
Relação |
http://eprints.qut.edu.au/37593/1/c37593.pdf DOI:10.1109/ROBOT.2004.1307183 Milford, Michael J., Wyeth, Gordon F., & Prasser, David (2004) RatSLAM : a hippocampal model for simultaneous localization and mapping. In Proceedings of IEEE International Conference on Robotics and Automation, 2004, IEEE, Hilton New Orleans Riverside Hotel, New Orleans, LA. |
Direitos |
Copyright 2004 IEEE |
Palavras-Chave | #080101 Adaptive Agents and Intelligent Robotics #SLAM #hippocampus #moblie robot |
Tipo |
Conference Paper |