Persistent navigation and mapping using a biologically inspired slam system

International Journal of Robotics Research

Volumn 29, Issue 9, 2010, Pages 1131-1153

  Milford, Michael ^a   Wyeth, Gordon ^a  

^a UNIVERSITY OF QUEENSLAND   (Australia)

Author keywords

biologically inspired; persistent navigation and mapping; RatSLAM; SLAM

Indexed keywords

AUTONOMOUS ROBOT; BIOLOGICALLY INSPIRED; DELIVERY TASK; HUMAN INTERVENTION; MAPPING PROBLEM; OFFICE ENVIRONMENTS; PERSISTENT NAVIGATION AND MAPPING; RATSLAM; SIMULTANEOUS LOCALIZATION AND MAPPING PROBLEMS; SLAM; TASK SELECTION; VISUAL SLAM;

MAPPING; MATHEMATICAL TECHNIQUES; PROBLEM SOLVING; ROBOTS;

NAVIGATION;

EID: 77955596781     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364909340592     Document Type: Article

References (47)

1. Andreasson, H., Duckett, T. and Lilienthal, A. (2008). A minimalistic approach to appearance-based visual SLAM. IEEE Transactions on Robotics, 24: 111.
2. Angeli, A., Filliat, D., Doncieux, S. and Meyer, J.-A. (2008). Fast and incremental method for loop-closure detection using bags of visual words. IEEE Transactions on Robotics, 24: 1027-1037.
3. Arleo, A. and Gerstner, W. (2000). Spatial cognition and neuro-mimetic navigation: a model of hippocampal place cell activity. Biological Cybernetics, 83: 287-299.
4. Barrera, A. and Weitzenfeld, A. (2008). Biologically-inspired robot spatial cognition based on rat neurophysiological studies. Autonomous Robots, 25: 147-169.
5. Biber, P. and Duckett, T. (2005). Dynamic maps for long-term operation of mobile service robots. Proceedings of Robotics: Science and Systems, Cambridge, MA.
6. Biber, P. and Duckett, T. (2009). Experimental analysis of sample-based maps for long-term SLAM. The International Journal of Robotics Research, 28: 20-33.
7. Brown, M. (2008). Autostitch. Available at: http://www.cs.ubc.ca/g1/ 4mbrown/autostitch/autostitch.html (Accessed 05-12-2008).
8. Burgess, N., Donnett, J.G., Jeffery, K.J. and OgKeefe, J. (1997). Robotic and neuronal simulation of the hippocampus and rat navigation. Philosophical Transactions of the Royal Society of London B Biological Sciences, 352: 1535-1543.
9. Cheeseman, P. and Smith, P. (1986). On the representation and estimation of spatial uncertainty. The International Journal of Robotics Research, 5: 56-68.
10. Cummins, M. and Newman, P. (2008). FAB-MAP: probabilistic localization and mapping in the space of appearance. The International Journal of Robotics Research, 27: 647-665.
11. Dayoub, F. and Duckett, T. (2008). An adaptive appearance-based map for long-term topological localization of mobile robots. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Nice, France, 2008.
12. Duckett, T., Marsland, S. and Shapiro, J. (2002). Fast, on-line learning of globally consistent maps. Autonomous Robots, 12: 287-300.
13. Folkesson, J. and Christensen, H. (2004). Graphical SLAM-a self-correcting map. Proceedings of the International Conference on Robotics and Automation, New Orleans, LA, 2004.
14. Frigo, M. and Johnson, S.G. (2008) Fastest Fourier Transform in the West An Adaptive Software Architecture for the FFT. Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing, Seattle, United States, 1998.
15. Fuhs, M.C. and Touretzky, D.S. (2006). A spin glass model of path integration in rat medial entorhinal cortex. The Journal of Neuroscience, 26: 4266-4276.
16. Giovannangeli, C. and Gaussier, P. (2008). Autonomous vision-based navigation: goal-orientated planning by transient states prediction, cognitive map building, and sensory-motor learning. Proceedings of the International Conference on Intelligent Robots and Systems, Nice, France, 2008.
17. Grisetti, G., Stachniss, C. and Burgard, W. (2007). Improved techniques for grid mapping with Rao-Blackwellized particle filters. IEEE Transactions on Robotics, 23: 34-46.
18. Hafting, T., Fyhn, M., Molden, S., Moser, M.-B. and Moser, E.I. (2005). Microstructure of a spatial map in the entorhinal cortex. Nature, 11: 801-806.
19. Howard, A. and Roy, N. (2008). The Robotics Data Set Repository. Available at: http://radish.sourceforge.net/ (Accessed 05-12-2008 ).
20. Kohonen, T. (1995). Self-Organizing Maps, Vol. 30. New York, Springer.
21. Kuipers, B. and Byun, Y.T. (1991). A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations. Robotics and Autonomous Systems, 8: 47-63.
22. Lu, F. and Milios, E. (1997). Globally consistent range scan alignment for environment mapping. Autonomous Robots, 4: 333-349.
23. Mahon, I., Williams, S.B., Pizarro, O. and Johnson-Roberson, M. (2008). Efficient view-based SLAM using visual loop closures. IEEE Transactions on Robotics, 24, 1002-1014.
24. Meyer, J.-A., Guillot, A., Girard, B., Khamassi, M., Pirim, P. and Berthoz, A. (2005). The Psikharpax project: towards building an artificial rat. Robotics and Autonomous Systems, 50: 211-223.
25. Milford, M. and Wyeth, G. (2008 a). Mapping a suburb with a single camera using a biologically inspired SLAM system. IEEE Transactions on Robotics, 24: 1038-1053.
26. Milford, M. and Wyeth, G. (2008 b). Single camera vision-only SLAM on a suburban road network. Proceedings of the International Conference on Robotics and Automation, Pasadena, CA, 2008.
27. Milford, M.J. (2008). Robot Navigation from Nature, Vol. 41, Ditzinger, T. (ed.). Springer, Berlin.
28. Milford, M.J., Prasser, D. and Wyeth, G. (2005). Experience mapping: producing spatially continuous environment representations using RatSLAM. Proceedings of the Australasian Conference on Robotics and Automation, Sydney, Australia, 2005.
29. Milford, M.J., Wyeth, G. and Prasser, D. (2004). RatSLAM: a hippocampal model for simultaneous localization and mapping. Proceedings of the International Conference on Robotics and Automation, New Orleans, LA, 2004.
30. Milford, M.J., Wyeth, G.F. and Prasser, D.P. (2006). Rat-SLAM on the edge: revealing a coherent representation from an overloaded rat brain. Proceedings of the International Conference on Robots and Intelligent Systems, Beijing, China, 2006.
31. Montemerlo, M., Thrun, S., Koller, D. and Wegbreit, B. (2003). FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges. Proceedings of the International Joint Conference on Artificial Intelligence, Acapulco, Mexico, 2003.
32. Montemerlo, M., Thrun, S., Koller, D. and Wegbreit, B. (2002). FastSLAM: a factored solution to the simultaneous localization and mapping problem. Proceedings of the AAAI National Conference on Artificial Intelligence, Edmonton, AB, Canada, 2002.
33. OgKeefe, J. and Conway, D.H. (1978). Hippocampal place units in the freely moving rat: why they fire where they fire. Experimental Brain Research, 31: 573-590.
34. Prasser, D., Milford, M. and Wyeth, G. (2005). Outdoor simultaneous localisation and mapping using RatSLAM. Proceedings of the International Conference on Field and Service Robotics, Port Douglas, Australia, 2005.
35. Ranck, J.B. (1984). Head direction cells in the deep cell layer of dorsal presubiculum in freely moving rats. Society Neuroscience Abstracts, 10: 599.
36. Samsonovich, A. and McNaughton, B.L. (1997). Path integration and cognitive mapping in a continuous attractor neural network model. The Journal of Neuroscience, 17: 5900-5920.
37. Smith, R., Self, M. and Cheeseman, P. (1990). Estimating uncertain spatial relationships in robotics. Autonomous Robot Vehicles, 8: 167-193.
38. Stachniss, C., Frese, U. and Grisetti, G. (2007). OpenSLAM. Available at: http://openslam.org/ (Accessed 05-12-2008).
39. Stringer, S.M., Rolls, E.T., Trappenberg, T.P. and de Araujo, I.E.T. (2002 a). Self-organizing continuous attractor networks and path integration: two-dimensional models of place cells. Network: Computation in Neural Systems, 13: 429-446.
40. Stringer, S.M., Trappenberg, T.P., Rolls, E.T. and de Araujo, I.E.T. (2002 b). Self-organizing continuous attractor networks and path integration: one-dimensional models of head direction cells. Network: Computation in Neural Systems, 13: 217-242.
41. Thrun, S. (2000). Probabilistic algorithms and the interactive museum tour-guide robot Minerva. The International Journal of Robotics Research, 19: 972-999.
42. Thrun, S., Hahnel, D., Ferguson, D., Montemerlo, M., Triebel, R., Burgard, W., Baker, C., Omohundro, Z., Thayer, S. and Whittaker, W. (2003). A system for volumetric robotic mapping of abandoned mines. Proceedings of the International Conference on Robotics and Automation, Taipei, Taiwan, 2003.
43. Thrun, S. and Leonard, J. (2008). Simultaneous Localization and Mapping, Siciliano, B. and Khatib, O. (eds) (Handbook of Robotics). Berlin, Springer, pp. 871-889.
44. Thrun, S. and Montemerlo, M. (2006). The GraphSLAM algorithm with applications to large-scale mapping of urban structures. The International Journal of Robotics Research, 25: 403-429.
45. Wang, C., Thrope, C. and Thrun, S. (2003). Online simultaneous localization and mapping with detection and tracking of moving objects: Theory and results from a ground vehicle in crowded urban areas. Proceedings of the International Conference on Robotics and Automation, Taipei, Taiwan, 2003.
46. Wolf, D.F. and Sukhatme, G. (2005). Mobile robot simultaneous localization and mapping in dynamic environments. Autonomous Robots, 19: 53-65.
47. Zhang, A.M. (2007). Robust appearance based visual route following in large scale outdoor environments. Proceedings of the Australasian Conference on Robotics and Automation, Brisbane, Australia, 2007.