Title
Biomimetic sonar for biomimetic SLAMBiomimetic sonar for biomimetic SLAM
Author
Faculty/Department
Faculty of Applied Economics
Research group
Engineering Management
Publication type
article
Publication
Subject
Economics
Physics
Source (journal)
11th IEEE Sensors Conference, October 28-31, 2012, Taipei, Taiwan
Volume/pages
(2012), p. 2223-2226
ISBN
978-1-4577-1766-6
ISI
000315671100533
Carrier
E
Target language
English (eng)
Full text (Publishers DOI)
Affiliation
University of Antwerp
Abstract
We present a biomimetic sonar system consisting of a single emitter and two receivers endowed with realistic spatial filter characteristics by inserting them in plastic replicas of bat pinnae. The outputs of these receivers are processed by a simple functional model of the processing performed in the cochlea. We show that these cochleograms contain sufficient amounts of information for the robust localization of a robot in unmodified office environments. This localization component is part of a more general biomimetic Simultaneous Localization and Mapping system (SLAM) for an autonomous robot based on a model of the rodent Hippocampus and the use of sonar instead of vision as exteroceptive sensory input (BatSLAM). To quantify the performance of the biomimetic sonar system in the robot localization task, and to be able to quantitatively compare the performance of different types of (sonar) sensors, we propose a technique based on conditional entropy.
E-info
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000315671100533&DestLinkType=RelatedRecords&DestApp=ALL_WOS&UsrCustomerID=ef845e08c439e550330acc77c7d2d848
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000315671100533&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=ef845e08c439e550330acc77c7d2d848
Handle