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Yeap [42] argued that an important basis for computing a cognitive map is the ability to compute and recognise local environments. Although he has demonstrated how such local environments could be used to construct a raw cognitive map, he failed to produce an adequate algorithm for computing them. In this paper, a detailed study of this problem is(More)
In this paper we examine the nature of the early cognitive map – the beginnings of a cognitive map formed from one's early impressions of the environment one is in. Two distinct paradigms have emerged from our studies of what information is initially identified in a cognitive map. The first, which we term a space-based approach, emphasises making explicit(More)
In Simultaneous Localisation and Mapping (SLAM) the correspondence problem , specifically detecting cycles, is one of the most difficult challenges for an autonomous mobile robot. In this paper we show how significant cycles in a topological map can be identified with a companion absolute global metric map. A tight coupling of the basic unit of(More)
In this paper we propose the use of small global memory for a viewer's immediate surroundings to assist in recognising places that have been visited previously. We call this global memory a Memory for the Immediate Surroundings (MFIS). Our previous work [1, 2] on building a cognitive map has focused on computing a representation for the different local(More)
We implemented Yeap's computational theory of cognitive mapping [1], [2] on a mobile robot equipped only with sonar sensors and an odometer. As expected, the resulting maps are erroneous. We demonstrate how a network of such highly unreliable descriptions can be used to find one's way in one's environment. The answer lies in the use of powerful commonsense(More)
We present a novel split and merge based method for dividing a given metric map into distinct regions, thus effectively creating a topological map on top of a metric one. The initial metric map is obtained from range data that are converted to a geometric map consisting of linear approximations of the indoor environment. The splitting is done using an(More)