Abstract
In this work, we propose a novel, bio-inspired multi-sensory SLAM approach called ViTa-SLAM. Compared to other multisensory SLAM variants, this approach allows for a seamless multi-sensory information fusion whilst naturally interacting with the environment. The algorithm is empirically evaluated in a simulated setting using a biomimetic robot platform called the WhiskEye. Our results show promising performance enhancements over existing bio-inspired SLAM approaches in terms of loop-closure detection.
Abstract (translated)
在这项工作中，我们提出了一种新颖的，生物启发的多感官砰砰方法称为vita砰砰。与其他多传感器SLAM变种相比，这种方法允许无缝的多感官信息融合，同时与环境自然互动。该算法是在一个模拟环境中，使用一个名为“威士忌”的仿生机器人平台进行经验评估的。我们的结果表明，在环路闭合检测方面，与现有的仿生SLAM方法相比，性能有了很大的提高。
URL
https://arxiv.org/abs/1904.05667
