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Cognitive Mapping Based on Conjunctive Representations of Space and Movement
Zeng TP(曾太平); Si BL(斯白露)
作者部门机器人学研究室
关键词Medial Entorhinal Cortex Head-direction Cells Conjunctive Grid Cells Cognitive Map Attractor Dynamics Path Integration Monocular Slam Bio-inspired Robots
发表期刊FRONTIERS IN NEUROROBOTICS
ISSN1662-5218
2017
卷号11页码:1-16
收录类别SCI ; EI
EI收录号20175004517940
WOS记录号WOS:000416015700001
产权排序1
资助机构Distinguished Young Scholar Project of the Thousand Talents Program of China ; State Key Laboratory of Robotics of China
摘要It is a challenge to build robust simultaneous localization and mapping (SLAM) system in dynamical large-scale environments. Inspired by recent findings in the entorhinal-hippocampal neuronal circuits, we propose a cognitive mapping model that includes continuous attractor networks of head-direction cells and conjunctive grid cells to integrate velocity information by conjunctive encodings of space and movement. Visual inputs from the local view cells in the model provide feedback cues to correct drifting errors of the attractors caused by the noisy velocity inputs. We demonstrate the mapping performance of the proposed cognitive mapping model on an open-source dataset of 66 km car journey in a 3 km x 1.6 km urban area. Experimental results show that the proposed model is robust in building a coherent semi-metric topological map of the entire urban area using a monocular camera, even though the image inputs contain various changes caused by different light conditions and terrains. The results in this study could inspire both neuroscience and robotic research to better understand the neural computational mechanisms of spatial cognition and to build robust robotic navigation systems in large-scale environments.
语种英语
WOS类目Computer Science, Artificial Intelligence ; Robotics ; Neurosciences
关键词[WOS]MEDIAL ENTORHINAL CORTEX ; FREELY-MOVING RAT ; GRID CELLS ; PLACE CELLS ; SIMULTANEOUS LOCALIZATION ; OSCILLATORY INTERFERENCE ; PATH-INTEGRATION ; SPATIAL MAP ; SLAM SYSTEM ; MODEL
WOS研究方向Computer Science ; Robotics ; Neurosciences & Neurology
资助项目Distinguished Young Scholar Project of the Thousand Talents Program of China[Y5A1370101] ; State Key Laboratory of Robotics of China[Y5A1203901]
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21252
专题机器人学研究室
通讯作者Si BL(斯白露)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
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Zeng TP,Si BL. Cognitive Mapping Based on Conjunctive Representations of Space and Movement[J]. FRONTIERS IN NEUROROBOTICS,2017,11:1-16.
APA Zeng TP,&Si BL.(2017).Cognitive Mapping Based on Conjunctive Representations of Space and Movement.FRONTIERS IN NEUROROBOTICS,11,1-16.
MLA Zeng TP,et al."Cognitive Mapping Based on Conjunctive Representations of Space and Movement".FRONTIERS IN NEUROROBOTICS 11(2017):1-16.
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