Cognitive Mapping Based on Conjunctive Representations of Space and Movement

doi:10.3389/fnbot.2017.00061

CORC > 金属研究所 > 中国科学院金属研究所

	Cognitive Mapping Based on Conjunctive Representations of Space and Movement
	Zeng, Taiping 1,2; Si, Bailu 1
刊名	FRONTIERS IN NEUROROBOTICS
	2017-11-22
卷号	11 页码: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
DOI	10.3389/fnbot.2017.00061
通讯作者	Si, Bailu(sibailu@sia.ac.cn)
英文摘要	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.
资助项目	Distinguished Young Scholar Project of the Thousand Talents Program of China[Y5A1370101] ; State Key Laboratory of Robotics of China[Y5A1203901]
WOS研究方向	Computer Science ; Robotics ; Neurosciences & Neurology
语种	英语
出版者	FRONTIERS MEDIA SA
WOS记录号	WOS:000416015700001
资助机构	Distinguished Young Scholar Project of the Thousand Talents Program of China ; State Key Laboratory of Robotics of China
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/127065]
专题	金属研究所_中国科学院金属研究所
通讯作者	Si, Bailu
作者单位	1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Zeng, Taiping,Si, Bailu. Cognitive Mapping Based on Conjunctive Representations of Space and Movement[J]. FRONTIERS IN NEUROROBOTICS,2017,11:16.
APA	Zeng, Taiping,&Si, Bailu.(2017).Cognitive Mapping Based on Conjunctive Representations of Space and Movement.FRONTIERS IN NEUROROBOTICS,11,16.
MLA	Zeng, Taiping,et al."Cognitive Mapping Based on Conjunctive Representations of Space and Movement".FRONTIERS IN NEUROROBOTICS 11(2017):16.