Extending RatSLAM Toward A Multi-Scale Model of Grid Cells
- Resource Type
- Conference
- Authors
- Wu, Haihang
- Source
- 2021 7th International Conference on Control, Automation and Robotics (ICCAR) Control, Automation and Robotics (ICCAR), 2021 7th International Conference on. :261-265 Apr, 2021
- Subject
- Robotics and Control Systems
Simultaneous localization and mapping
Automation
Navigation
Biological system modeling
Rodents
Cells (biology)
Rats
SLAM
biologically inspired navigation
multi-scale mapping
large-scale environment
- Language
- ISSN
- 2251-2454
A recent discovery has found that rats used multiple discretized grid cells modules rather than a single module to map the environment. This study extended the existing single scale Ratslam model (a rodent inspired simultaneous localization and mapping algorithm) to multi-scale Ratslam model and evaluated its performance benefits by simulated dataset and real world dataset. Results showed that the new multi-scale model can produce topographically sensible map with much less storage cost than the single scale model.