ViTa-SLAM: A Bio-inspired Visuo-Tactile SLAM for Navigation while Interacting with Aliased Environments

Oliver Struckmeier, Kshitij Tiwari, Mohammed Salman, Martin J. Pearson, Ville Kyrki

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

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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.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
PublisherIEEE
Pages97-103
Number of pages7
ISBN (Electronic)9781728150734
DOIs
Publication statusPublished - Sep 2019
MoE publication typeA4 Article in a conference publication
EventIEEE International Conference on Cyborg and Bionic Systems - Munich, Germany
Duration: 18 Sep 201920 Sep 2019

Conference

ConferenceIEEE International Conference on Cyborg and Bionic Systems
Abbreviated titleCBS
CountryGermany
CityMunich
Period18/09/201920/09/2019

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