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Cognitive map construction method based on space and motion joint coding

A technology of joint coding and construction methods, applied in the field of map construction, can solve problems such as inability to integrate into people and mobile robots not reaching the practical level.

Active Publication Date: 2019-07-16
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Application Information

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Problems solved by technology

[0004] In short, the current mobile robot is far from being practical, nor can it be integrated into people's lives.

Method used

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  • Cognitive map construction method based on space and motion joint coding
  • Cognitive map construction method based on space and motion joint coding
  • Cognitive map construction method based on space and motion joint coding

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Embodiment Construction

[0096] The present invention will be further described in detail below in conjunction with the examples.

[0097] Such as figure 1 shown. The invention discloses a cognitive map construction method based on joint coding of space and motion. The invention belongs to the technical field of robot navigation. Considering the internal positioning system of the mammalian brain, the entorhinal cortex-hippocampus neural circuit, using the spatial navigation coding properties of place cells, head orientation cells, grid cells, and speed cells, a complex continuous attractor neural network model-spatial memory A network that simultaneously encodes the spatial and motion characteristics of animals, and performs path integration for angular and linear velocities. In this network, the asymmetric connection weights between neurons can generate the inherent activity peaks of the system that can move spontaneously. Once there is a velocity input, the attractor network can robustly integrat...

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Abstract

The invention relates to a cognitive map construction method based on space and motion joint coding, and belongs to the technical field of robot navigation. A sniffing layer-hippocampus neural circuitin an internal positioning system of the brain of a mammal is considered; a continuous attractor neural network model-spatial memory network is formed by utilizing spatial navigation coding characteristics of position cells, head orientation cells, grid cells and velocity cells, space and motion characteristics of animals are coded at the same time, and path integration is carried out on angularvelocity and linear velocity. In the network, the asymmetric connection weights among the neurons generate system inherent activity peaks capable of spontaneously moving, once speed input exists, theattractor network can steadily integrate the linear speed and the angular speed, and stable robot head direction and position coding is formed. And local view cells are formed through single-camera visual input, so that the accumulative error of path integration can be corrected. According to the invention, a consistent half-meter topological map can be stably constructed by using a single camera.

Description

technical field [0001] The invention belongs to the field of robot navigation, and in particular relates to a map construction method based on space and motion joint coding of mammalian space cognition and using a single camera as information input. Background technique [0002] One of the most important challenges in integrating robots into our daily lives is how to give robots the spatial awareness to explore their surroundings like animals. In the past two decades, many researchers have spent a lot of energy to endow robots with the ability to navigate autonomously, which can simultaneously locate, map and navigate without human intervention. This has constituted an important robotics research field - simultaneous localization and map construction (SimultaneousLocalization and Mapping, SLAM). The methods are mainly divided into two categories. The classic method is called probabilistic SLAM, which usually uses extended Kalman filter, particle filter, etc. Various filter...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F16/29G06N3/02
CPCG06N3/02G06F16/29
Inventor 斯白露曾太平
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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