Cognitive Mapping Based on Conjunctive Representations of Space and Movement
Zeng, Taiping1,2; Si, Bailu1
Corresponding AuthorSi, Bailu(
AbstractIt 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.
Keywordmedial entorhinal cortex head-direction cells conjunctive grid cells cognitive map attractor dynamics path integration monocular SLAM bio-inspired robots
Funding OrganizationDistinguished Young Scholar Project of the Thousand Talents Program of China ; State Key Laboratory of Robotics of China
Indexed BySCI
Funding ProjectDistinguished Young Scholar Project of the Thousand Talents Program of China[Y5A1370101] ; State Key Laboratory of Robotics of China[Y5A1203901]
WOS Research AreaComputer Science ; Robotics ; Neurosciences & Neurology
WOS SubjectComputer Science, Artificial Intelligence ; Robotics ; Neurosciences
WOS IDWOS:000416015700001
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Cited Times:10[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorSi, Bailu
Affiliation1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
Recommended Citation
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.
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