Publication: Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM
Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM
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Kreiser, R., Renner, A., Sandamirskaya, Y., & Pienroj, P. (2018, October 5). Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid. https://doi.org/10.1109/IROS.2018.8594228
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In this paper, we investigate the use of ultra low-power, mixed signal analog/digital neuromorphic hardware for implementation of biologically inspired neuronal path integration and map formation for a mobile robot. We perform spiking network simulations of the developed architecture, interfaced to a simulated robotic vehicle. We then port the neuronal map formation architecture on two connected neuromorphic devices, one of which features on-board plasticity, and demonstrate the feasibility of a neuromorphic realization of simultaneou
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- Kreiser, Raphaela
- Sandamirskaya, Yulia
- Pienroj, Panin
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Kreiser, R., Renner, A., Sandamirskaya, Y., & Pienroj, P. (2018, October 5). Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid. https://doi.org/10.1109/IROS.2018.8594228
