{"id":1874,"date":"2019-05-05T14:52:17","date_gmt":"2019-05-05T04:52:17","guid":{"rendered":"https:\/\/www.cognav.net\/?p=1874"},"modified":"2019-05-05T14:52:17","modified_gmt":"2019-05-05T04:52:17","slug":"vita-slam-biologically-inspired-visuo-tactile-slam","status":"publish","type":"post","link":"https:\/\/braininspirednavigation.com\/?p=1874","title":{"rendered":"ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM"},"content":{"rendered":"

Struckmeier, Oliver, Kshitij Tiwari, Martin J. Pearson, and Ville Kyrki. “ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM<\/a>.<\/strong>” arXiv preprint arXiv:1904.05667 (2019).<\/p>\n

Abstract\u2014 In this work, Struckmeier et al. propose a novel, bio-inspired multisensory SLAM approach called ViTa-SLAM<\/span><\/strong>. Compared to other multi-sensory SLAM variants, this approach allows for a seamless multi-sensory information fusion whilst naturally interacting with the environment.<\/span><\/strong> The algorithm is empirically evaluated in a simulated setting using a biomimetic robot platform called the WhiskEye. Our results show promising performance enhancements over existing bio-inspired SLAM approaches in terms of loop-closure detection.<\/p>\n

The following content is extracted from the paper\u00a0Struckmeier et al 2019.<\/p>\n

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Fig. source:\u00a0Struckmeier et al. 2019<\/p>\n

Whilst the state-of-the-art bio-inspired SLAM model called RatSLAM was inspired by the rat hippocampal formations, it was designed purely for non-contact sensing scenarios.<\/span><\/strong> Similarly, WhiskerRatSLAM was designed purely for contact-sensing based SLAM. With this work, they have extended the outreach of these bio-inspired SLAM approaches to biomimetic robots bringing us one step closer to transitioning from biologically inspired to biologically plausible methodologies.<\/p>\n

In the future works, they plan on extending our algorithm to higher dimensions to account for the full 6 DOF pose while the algorithm currently can handle upto 3 DOF pose.<\/span> While this poses significant computational challenges, it is essential to generalizing the applicability of this method.<\/span><\/strong> Additionally, they will investigate active sensory switch mechanism to minimize rudimentary sensory data acquisition<\/span><\/strong>.<\/p>\n

For further info, please read the paper\u00a0Struckmeier et al. 2019.<\/p>\n

Struckmeier, Oliver, Kshitij Tiwari, Martin J. Pearson, and Ville Kyrki. “ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM<\/a>.<\/strong>” arXiv preprint arXiv:1904.05667 (2019).<\/p>\n

Salman, Mohammed, and Martin J. Pearson. “Whisker-RatSLAM Applied to 6D Object Identification and Spatial Localisation<\/strong><\/a>.” In Conference on Biomimetic and Biohybrid Systems, pp. 403-414. Springer, Cham, 2018.<\/p>\n

 <\/p>\n","protected":false},"excerpt":{"rendered":"

Struckmeier, Oliver, Kshitij Tiwari, Martin J. Pearson, and Ville Kyrki. “ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM.” arXiv preprint arXiv:1904.05667 (2019). Abstract\u2014 In this work, Struckmeier et al. propose a novel, bio-inspired multisensory SLAM approach called ViTa-SLAM. Compared to other multi-sensory SLAM variants, this approach allows for a seamless multi-sensory information fusion whilst naturally interacting with the environment. […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[126,114,96],"tags":[115,471,470,472],"_links":{"self":[{"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/posts\/1874"}],"collection":[{"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1874"}],"version-history":[{"count":1,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/posts\/1874\/revisions"}],"predecessor-version":[{"id":1876,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/posts\/1874\/revisions\/1876"}],"wp:attachment":[{"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1874"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1874"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1874"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}