Simultaneous localisation and mapping from natural landmarks using RatSLAM
Milford, Michael, Wyeth, Gordon, & Prasser, David (2004) Simultaneous localisation and mapping from natural landmarks using RatSLAM. In Barnes, Nick & Austin, David (Eds.) 2004 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc, Canberra.
This paper describes the current state of RatSLAM, a Simultaneous Localisation and Mapping (SLAM) system based on models of the rodent hippocampus. RatSLAM uses a competitive attractor network to fuse visual and odometry information. Energy packets in the network represent pose hypotheses, which are updated by odometry and can be enhanced or inhibited by visual input. This paper shows the effectiveness of the system in real robot tests in unmodified indoor environments using a learning vision system. Results are shown for two test environments; a large corridor loop and the complete floor of an office building.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2004 [please consult the authors]|
|Deposited On:||22 Jun 2010 22:27|
|Last Modified:||10 Aug 2011 16:55|
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