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Robust Topological Feature Extraction for Mapping of Environments using Bio-Inspired Sensor Networks
[article]
2014
arXiv
pre-print
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To extract dominant features from sampled data, topological data analysis is used to produce persistence intervals for features, to be used for topological mapping. ...
In this paper, we exploit minimal sensing information gathered from biologically inspired sensor networks to perform exploration and mapping in an unknown environment. ...
Contribution: In this paper, we aim to construct topological maps of unknown environments using bio-inspired mobile sensor networks under the constraint of limited sensing information. ...
arXiv:1410.4622v1
fatcat:nss2bwrbijfpxhemaz52fxwnn4
Underwater SLAM: Challenges, state of the art, algorithms and a new biologically-inspired approach
2014
5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
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The unstructured scenario, the extraction of significant features, the imprecision of sensors along with the impossibility of using GPS signals are some of the challenges encountered in underwater environments ...
Given the limitations of probabilistic approaches, a new alternative based on a bio-inspired model is highlighted. ...
ACKNOWLEDGMENT The authors gratefully acknowledge the contribution of CAPES, CNPQ and Oil Brazilian Agency (ANP). ...
doi:10.1109/biorob.2014.6913908
dblp:conf/biorob/GuthSBDB14
fatcat:2iwpvnjorzagxfbgc3f57yfuge
Towards bio-inspired unsupervised representation learning for indoor aerial navigation
[article]
2021
arXiv
pre-print
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To tackle that problem, this research displays a biologically inspired deep-learning algorithm for simultaneous localization and mapping (SLAM) and its application in a drone navigation system. ...
The designed algorithm is evaluated on a dataset collected in an indoor warehouse environment, and initial results show the feasibility for robust indoor aerial navigation. ...
ACKNOWLEDGMENT O.Ç . is funded by a Ph.D. grant of the Flanders Research Foundation (FWO). ...
arXiv:2106.09326v1
fatcat:m2fxiwavivgxfonexgy5xa3cee
ViTa-SLAM: A Bio-inspired Visuo-Tactile SLAM for Navigation while Interacting with Aliased Environments
[article]
2019
arXiv
pre-print
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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. ...
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. ...
CONCLUSION AND FUTURE WORKS This work demonstrated a novel bio-inspired multi-sensory SLAM mechanism for a robot exploring and interacting with 2 Video demonstration available here. an environment that ...
arXiv:1906.06422v4
fatcat:hgd7l2lnnzfgra6klgvv4kfnzu
ViTa-SLAM: A Bio-inspired Visuo-Tactile SLAM for Navigation while Interacting with Aliased Environments
2019
2019 IEEE International Conference on Cyborg and Bionic Systems (CBS)
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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. ...
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. * The authors have equal contribution. ...
CONCLUSION AND FUTURE WORKS This work demonstrated a novel bio-inspired multisensory SLAM mechanism for a robot exploring and interacting with an environment that presents ambiguous cues. ...
doi:10.1109/cbs46900.2019.9114526
dblp:conf/cbs/StruckmeierTSPK19
fatcat:ke4woczusngflmqbxxskbrs2jy
Bio-inspired homogeneous multi-scale place recognition
2015
Neural Networks
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recognition performance benefits for navigating robots in large real world environments, especially using more than two homogeneous map scales. ...
We present methods for training each network to learn and recognize places at a specific spatial scale, and techniques for combining the output from each of these parallel networks. ...
We briefly review evidence for multi-scale maps in the mammalian brain and note other bio-inspired mapping and navigation systems. ...
doi:10.1016/j.neunet.2015.10.002
pmid:26576467
fatcat:kkz7wzh3zzhivbqpdacr4kd3am
Multi-resolution SLAM for Real World Navigation
[chapter]
2005
Springer Tracts in Advanced Robotics
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The fingerprint used for topological navigation enables also the re-initialization of the metric localization. ...
The metric approach, based on the Kalman Filter, uses a new concept to avoid the problem of the drift in odometry. For the topological framework the fingerprint sequence approach is used. ...
networks, e.g. the work by Hafner [10] uses a neural network to create a topological map of the environment based on images of an omni-directional camera. ...
doi:10.1007/11008941_47
fatcat:66o5wv3qtzfnvgd2ee2lxh4tpu
Evaluation of Bio-inspired SLAM algorithm based on a Heterogeneous System CPU-GPU
2021
E3S Web of Conferences
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In this work we propose an implementation of the bio-inspired SLAM algorithm RatSLAM based on a heterogeneous system type CPU-GPU. ...
The evaluation of the algorithm showed that with C/C++ we have an executing time of 170.611 ms with a processing of 5 frames/s and for the implementation on a heterogeneous system we used CUDA as language ...
The identification of places is reached by using a neural network, RatSLAM able to generating topological representations of outdoor and indoor environments, the RatSLAM algorithm is composed of 4 blocks ...
doi:10.1051/e3sconf/202122901023
fatcat:m45zk6scazecnf7vkepkmf3xjy
A Cognitive Model for Humanoid Robot Navigation and Mapping using Alderbaran NAO
[article]
2014
arXiv
pre-print
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2014 pre-print arXiv:1405.3095v1 fatcat:zhqwyhc3nnbjbn5ngkvdtdv3om
Cognitive mapping is assumed as three parts, whose representations were proposed a network of ASRs, an MFIS, and a hierarchy of Place Representations. ...
The aim of this work is to build a cognitive model for the humanoid robot, especially, we are interested in the navigation and mapping on the humanoid robot. ...
The robustness of our cognitive model by using vision sensor is the research emphasis. Moreover, we would like to test the theory that this is how humans map their environment. ...
arXiv:1405.3095v2
fatcat:xnbgjjzyvreulmfrvqaja7vliq
Human Action Recognition with Hierarchical Growing Neural Gas Learning
[chapter]
2014
Lecture Notes in Computer Science
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We propose a novel biologically inspired framework for the recognition of human full-body actions. First, we extract body pose and motion features from depth map sequences. ...
Experiments on a set of 10 human actions show that the use of multi-cue learning leads to substantially increased recognition accuracy over the single-cue approach and the learning of joint pose-motion ...
The use of skeleton model-based techniques for tracking action features in terms of a set of joints and limbs has shown good results, especially for approaches using depth maps [4] . ...
doi:10.1007/978-3-319-11179-7_12
fatcat:kof4ezxmgjgbtdtu7xozqeg7cq
On Swarm Intelligence Inspired Self-Organized Networking: Its Bionic Mechanisms, Designing Principles and Optimization Approaches
2014
IEEE Communications Surveys and Tutorials
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Inspired by swarm intelligence observed in social species, the artificial self-organized networking (SON) systems are expected to exhibit some intelligent features (e.g., flexibility, robustness, decentralized ...
The existing well-known bio-inspired algorithms such as pulse-coupled oscillators (PCO)based synchronization, ant-and/or bee-inspired cooperation and division of labor, immune systems inspired network ...
ACKNOWLEDGMENT The authors would like to acknowledge the editor and anonymous reviewers for their critical comments, which greatly improved this paper. ...
doi:10.1109/surv.2013.062613.00014
fatcat:gil3a5vbm5abzbrnbsyfagosr4
A Bio-inspired Framework for Highly Efficient Structural Health Monitoring and Vibration Analysis
[chapter]
2017
Lecture Notes in Civil Engineering
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and lead to new sensing paradigms for optimal network to pology and sensors location. ...
The scope of this paper is to present a bio-inspired framework for optimal structural health monitoring and vibration analysis. ...
the scope of the project POCI-01-0145-FED ER-007633. ...
doi:10.1007/978-3-319-67443-8_39
fatcat:ecdzgggtx5eetjywtjx2lvd2re
Efficient Feedforward Categorization of Objects and Human Postures with Address-Event Image Sensors
2012
IEEE Transactions on Pattern Analysis and Machine Intelligence
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An event-based temporal difference image sensor is used to provide input video sequences, while a software module extracts size and position invariant line features inspired by models of the primate visual ...
The system employs an innovative combination of event-based hardware and bio-inspired software architecture. ...
We use a temporal difference image sensor named Mo-toTrigger [19] , [36] , combined with a software implementation of a bio-inspired feature extraction unit and a classifier. ...
doi:10.1109/tpami.2011.120
pmid:21670481
fatcat:llkekdkxzrb2ppan6lnhv4sygm
Embedded neuromorphic vision for humanoid robots
2011
CVPR 2011 WORKSHOPS
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We are developing an embedded vision system for the humanoid robot iCub, inspired by the biology of the mammalian visual system, including concepts such as stimulusdriven, asynchronous signal sensing and ...
It comprises stimulus-driven sensors, a dedicated embedded processor and an event-based software infrastructure for processing visual stimuli. ...
it will be used for extracting high-level information about the environment. ...
doi:10.1109/cvprw.2011.5981834
dblp:conf/cvpr/BartolozziRCHFI11
fatcat:sdzr4andx5c4vpmphtuqzszcvm
A Hardware-Deployable Neuromorphic Solution for Encoding and Classification of Electronic Nose Data
2019
Sensors
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Recent developments in spike-based bio-inspired approaches have delivered solutions for the highly accurate classification of multivariate sensor data with minimized computational and power requirements ...
Through this investigation, we proposed a spiking neural network (SNN)-based classifier, implemented in a chip-emulation-based development environment, that can be seamlessly deployed on a neuromorphic ...
Conflicts of Interest: The authors declare no conflict of interest. Sensors 2019, 19, 4831 ...
doi:10.3390/s19224831
pmid:31698785
pmcid:PMC6891685
fatcat:2ybjtx247ff3bcdwv4z5qqjs3e
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