• Corpus ID: 212628325

StereoNeuroBayesSLAM: A Neurobiologically Inspired Stereo Visual SLAM System Based on Direct Sparse Method

  title={StereoNeuroBayesSLAM: A Neurobiologically Inspired Stereo Visual SLAM System Based on Direct Sparse Method},
  author={Taiping Zeng and Xiaoli Li and Bailu Si},
We propose a neurobiologically inspired visual simultaneous localization and mapping (SLAM) system based on direction sparse method to real-time build cognitive maps of large-scale environments from a moving stereo camera. The core SLAM system mainly comprises a Bayesian attractor network, which utilizes neural responses of head direction (HD) cells in the hippocampus and grid cells in the medial entorhinal cortex (MEC) to represent the head direction and the position of the robot in the… 

Three-dimensional measurements of animal paths using handheld unconstrained GoPro cameras and VSLAM software

  • P. Brady
  • Physics
    Bioinspiration & biomimetics
  • 2021
PATMOS’s utility in terrestrial and aquatic environments is demonstrated by quantifying dragonfly flight characteristics and the inter-spatial distances between substrate and damselfish by measuring three-dimensional paths of animals in situ using two handheld GoPro cameras and a small spatial reference object.

SLAM; definition and evolution

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A biologically inspired system for guiding and controlling a virtual hexapod robot is presented, composed of subsystems that execute processes of path integration, action selection, actuator control and correction of the robot’s orientation.



Cognitive Mapping Based on Conjunctive Representations of Space and Movement

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.

OpenRatSLAM: an open source brain-based SLAM system

OpenRatSLAM is described, an open-source version of RatSLAM with bindings to the Robot Operating System framework to leverage advantages such as robot and sensor abstraction, networking, data playback, and visualization.

Experience Dependent Formation of Global Coherent Representation of Environment by Grid Cells and Head Direction Cells.

The results support that grid firing patterns do provide a universal spatial metric for mammalian spatial navigation in complex environments and provide insights into experience-dependent interactions between path integrative calculation of location in the entorhinal cortex and learned associations to the external sensory cues in the hippocampus.

A brain-inspired compact cognitive mapping system

The results demonstrate that the proposed method largely restricts the growth of the size of the cognitive map over time, and meanwhile, the compact cognitive map correctly represents the overall layout of the environment.

Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras

Quantitative evaluation demonstrates that the proposed Stereo DSO outperforms existing state-of-the-art visual odometry methods both in terms of tracking accuracy and robustness.

The head direction signal: origins and sensory-motor integration.

  • J. Taube
  • Biology, Psychology
    Annual review of neuroscience
  • 2007
V Vestibular information appears critical for generating the directional signal, but motor/proprioceptive and landmark information are important for updating it.

Direct Sparse Odometry

The experiments show that the presented approach significantly outperforms state-of-the-art direct and indirect methods in a variety of real-world settings, both in terms of tracking accuracy and robustness.

Microstructure of a spatial map in the entorhinal cortex

The dorsocaudal medial entorhinal cortex (dMEC) contains a directionally oriented, topographically organized neural map of the spatial environment, whose key unit is the ‘grid cell’, which is activated whenever the animal's position coincides with any vertex of a regular grid of equilateral triangles spanning the surface of the environment.

Are we ready for autonomous driving? The KITTI vision benchmark suite

The autonomous driving platform is used to develop novel challenging benchmarks for the tasks of stereo, optical flow, visual odometry/SLAM and 3D object detection, revealing that methods ranking high on established datasets such as Middlebury perform below average when being moved outside the laboratory to the real world.