Saul, A., Prescott, T.J. and Fox, C.W. (2011) Scaling up a Boltzmann machine model of hippocampus with visual features for mobile robots. In: Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on. 2011 IEEE International Conference on Robotics and Biomimetics, December 7-11, 2011, Phucket, Thailand. IEEE , pp. 835-840. ISBN 978-1-4577-2136-6
Abstract
Previous papers [4], [5] have described a detailed mapping between biological hippocampal navigation and a temporal restricted Boltzmann machine [20] with unitary coherent particle filtering. These models have focused on the biological structures and used simplified microworlds in implemented examples. As a first step in scaling the model up towards practical bio-inspired robotic navigation, we present new results with the model applied to real world visual data, though still limited by a discretized configuration space. To extract useful features from visual input we apply the SURF transform followed by a new lamellae-based winner-take-all Dentate Gyrus. This new visual processing stream allows the navigation system to function without the need for a simplifying data assumption of the previous models, and brings the hippocampal model closer to being a practical robotic navigation system.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2011 IEEE. This is an author produced version of a paper subsequently published in Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 13:45 |
Last Modified: | 01 Jul 2017 14:39 |
Published Version: | https://doi.org/10.1109/ROBIO.2011.6181391 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ROBIO.2011.6181391 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108428 |