Paper Info
Title
ViTa-SLAM: A Bio-inspired Visuo-Tactile SLAM for Navigation while Interacting with Aliased Environments
Abstract
RatSLAM is a rat hippocampus-inspired visual Simultaneous Localization and Mapping (SLAM) framework capable of generating semi-metric topological representations of indoor and outdoor environments. Whisker-RatSLAM is a 6D extension of the RatSLAM and primarily focuses on object recognition by generating point clouds of objects based on tactile information from an array of biomimetic whiskers. This paper introduces a novel extension to both former works that is referred to as ViTa-SLAM that harnesses both vision and tactile information for performing SLAM. This not only allows the robot to perform natural interactions with the environment whilst navigating, as is normally seen in nature, but also provides a mechanism to fuse non-unique tactile and unique visual data. Compared to the former works, our approach can handle ambiguous scenes in which one sensor alone is not capable of identifying false-positive loop-closures.
Year
DOI
Venue
2019
10.1109/CBS46900.2019.9114526
2019 IEEE International Conference on Cyborg and Bionic Systems (CBS)
Keywords
DocType
Volume
aliased environments,Mapping framework,semimetric topological representations,indoor environments,outdoor environments,whisker-RatSLAM,object recognition,tactile information,biomimetic whiskers,ViTa-SLAM,performing SLAM,natural interactions,unique visual data,bio-inspired visuo-tactile SLAM,navigation,rat hippocampus-inspired visua l Simultaneous Localization
Conference
abs/1906.06422
ISBN
Citations 
PageRank 
978-1-7281-5074-1
0
0.34
References 
Authors
12
5
Name
Order
Citations
PageRank
Oliver Struckmeier100.34
Kshitij Tiwari211.05
Salman Mohammed3234.70
Martin J. Pearson421526.34
V. Kyrki565261.79