Cognitive Mapping Based on Conjunctive Representations of Space and Movement

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Cognitive Mapping Based on Conjunctive Representations of Space and Movement
	Zeng TP(曾太平); Si BL(斯白露)
刊名	FRONTIERS IN NEUROROBOTICS
	2017
卷号	11 页码:1-16
关键词	medial entorhinal cortex head-direction cells conjunctive grid cells cognitive map attractor dynamics path integration monocular SLAM bio-inspired robots
ISSN号	1662-5218
通讯作者	Si BL(斯白露)
产权排序	1
中文摘要	It is a challenge to build robust simultaneous localization and mapping (SLAM) system in dynamical large-scale environments. Inspired by recent findings in the entorhinal-hippocampal neuronal circuits, we propose a cognitive mapping model that includes continuous attractor networks of head-direction cells and conjunctive grid cells to integrate velocity information by conjunctive encodings of space and movement. Visual inputs from the local view cells in the model provide feedback cues to correct drifting errors of the attractors caused by the noisy velocity inputs. We demonstrate the mapping performance of the proposed cognitive mapping model on an open-source dataset of 66 km car journey in a 3 km x 1.6 km urban area. 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. The results in this study could inspire both neuroscience and robotic research to better understand the neural computational mechanisms of spatial cognition and to build robust robotic navigation systems in large-scale environments.
WOS标题词	Science & Technology ; Technology ; Life Sciences & Biomedicine
类目[WOS]	Computer Science, Artificial Intelligence ; Robotics ; Neurosciences
研究领域[WOS]	Computer Science ; Robotics ; Neurosciences & Neurology
关键词[WOS]	MEDIAL ENTORHINAL CORTEX ; FREELY-MOVING RAT ; GRID CELLS ; PLACE CELLS ; SIMULTANEOUS LOCALIZATION ; OSCILLATORY INTERFERENCE ; PATH-INTEGRATION ; SPATIAL MAP ; SLAM SYSTEM ; MODEL
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000416015700001
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21252]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Zeng TP,Si BL. Cognitive Mapping Based on Conjunctive Representations of Space and Movement[J]. FRONTIERS IN NEUROROBOTICS,2017,11:1-16.
APA	Zeng TP,&Si BL.(2017).Cognitive Mapping Based on Conjunctive Representations of Space and Movement.FRONTIERS IN NEUROROBOTICS,11,1-16.
MLA	Zeng TP,et al."Cognitive Mapping Based on Conjunctive Representations of Space and Movement".FRONTIERS IN NEUROROBOTICS 11(2017):1-16.