SLAM and Vision-based Humanoid Navigation

Stasse, Olivier

doi:10.1007/978-94-007-6046-2_59

Cited by 2 publications

(1 citation statement)

References 53 publications

(52 reference statements)

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“…Navigating in an environment, whether indoor or outdoor, is a fundamental task for autonomous robotic systems and a vital task for many species. Autonomous robotic systems most commonly use SLAM (Simultaneous Localization And Mapping) approaches [1,2] in order to constantly estimate their position in an unknown environment. Various active and passive sensors are employed in order to build a precise global map of the investigated environment.…”

Section: Introductionmentioning

confidence: 99%

Towards a Predictive Bio-Inspired Navigation Model

Run¹,

Pissaloux²,

Romeo³

et al. 2021

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This paper presents a novel bio-inspired predictive model of visual navigation inspired by mammalian navigation. This model takes inspiration from specific types of neurons observed in the brain, namely place cells, grid cells and head direction cells. In the proposed model, place cells are structures that store and connect local representations of the explored environment, grid and head direction cells make predictions based on these representations to define the position of the agent in a place cell’s reference frame. This specific use of navigation cells has three advantages: First, the environment representations are stored by place cells and require only a few spatialized descriptors or elements, making this model suitable for the integration of large-scale environments (indoor and outdoor). Second, the grid cell modules act as an efficient visual and absolute odometry system. Finally, the model provides sequential spatial tracking that can integrate and track an agent in redundant environments or environments with very few or no distinctive cues, while being very robust to environmental changes. This paper focuses on the architecture formalization and the main elements and properties of this model. The model has been successfully validated on basic functions: mapping, guidance, homing, and finding shortcuts. The precision of the estimated position of the agent and the robustness to environmental changes during navigation were shown to be satisfactory. The proposed predictive model is intended to be used on autonomous platforms, but also to assist visually impaired people in their mobility.

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Section: Introductionmentioning

confidence: 99%