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

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference contributionScientificvertaisarvioitu

68 Lataukset (Pure)

Abstrakti

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.

AlkuperäiskieliEnglanti
OtsikkoProceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
KustantajaIEEE
Sivut97-103
Sivumäärä7
ISBN (elektroninen)9781728150734
DOI - pysyväislinkit
TilaJulkaistu - syyskuuta 2019
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisuussa
TapahtumaIEEE International Conference on Cyborg and Bionic Systems - Munich, Saksa
Kesto: 18 syyskuuta 201920 syyskuuta 2019

Conference

ConferenceIEEE International Conference on Cyborg and Bionic Systems
LyhennettäCBS
MaaSaksa
KaupunkiMunich
Ajanjakso18/09/201920/09/2019

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  • Projektit

    HBP SGA2: Human Brain Project Specific Grant Agreement 2

    Kyrki, V., Tiwari, K. & Struckmeier, O.

    01/04/201831/03/2021

    Projekti: EU: Framework programmes funding

    Siteeraa tätä

    Struckmeier, O., Tiwari, K., Salman, M., Pearson, M. J., & Kyrki, V. (2019). ViTa-SLAM: A Bio-inspired Visuo-Tactile SLAM for Navigation while Interacting with Aliased Environments. teoksessa Proceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019 (Sivut 97-103). [9114526] IEEE. https://doi.org/10.1109/CBS46900.2019.9114526