Category: 3D SLAM

How to implement 6DoF state estimation on 3D manifold based on neural dynamics?

State estimation in high dimensional space is a big challenge problem. Commonly, we use Lie group to implement 6DoF state estimation in 3D space. However, how does the brain implement path integration in 3D space based on neural dynamics?

Low …

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Optimal dynamic coding by mixed-dimensionality neurons in the head-direction system of bats

Finkelstein, Arseny, Nachum Ulanovsky, Misha Tsodyks, and Johnatan Aljadeff. “Optimal dynamic coding by mixed-dimensionality neurons in the head-direction system of bats.” Nature communications 9, no. 1 (2018): 3590.

Abstract:

Ethologically relevant stimuli are often multidimensional. In many brain …

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Neuromorphic Stereo Vision for Biologically Plausible Robots

Lea Steffen, Daniel Reichard, Jakob Weinland, Jacques Kaiser, Arne Roennau and Rüdiger Dillmann. Neuromorphic Stereo Vision: a Survey of Bio-inspired Sensors and Algorithms. Front. Neurorobot. | doi: 10.3389/fnbot.2019.00028

Anstract: Any visual sensor, whether artificial or biological, maps the 3D-world …

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How grid cells generate unambiguous and high-capacity representations of variables in much higher-dimensional space?

Klukas, Mirko, Marcus Lewis, and Ila Fiete. “Flexible representation and memory of higher-dimensional cognitive variables with grid cells.” bioRxiv (2019): 578641.

The following content is from Klukas 2019.

Grid cell representations are simultaneously flexible and powerful yet rigid …

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3D State Estimation and 3D Pose Graph Optimization for 3D SLAM and Navigation

The following are some key references about 3D state estimation, 3D motion, 3D pose graph optimization.

Solà, Joan, Jeremie Deray, and Dinesh Atchuthan. “A micro Lie theory for state estimation in robotics.” arXiv preprint arXiv:1812.01537 (2018).

In this …

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NeuroSLAM : Neural Simultaneous Localization and Mapping Workshop 13-14 Mar 2019 Paris (France)

NeuroSLAM: Neural Simultaneous Localization and Mapping Workshop

 

Simultaneous Localization and Mapping (or SLAM) refers to the problem of constructing a map of an unknown environment as it is actively being explored. SLAM has been treated extensively in mobile robotics, providing …

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AntBot: desert ants inspired autonomous navigation in outdoor environments

J. Dupeyroux et al. 2019 presents a navigation system inspired by desert ants’ navigation behavior, which requires precise and robust sensory modalities.

(Fig from J. Dupeyroux et al. 2019) Fig. The celestial compass. (A) 3D diagram of the pattern of
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