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Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM


Kreiser, Raphaela; Renner, Alpha; Sandamirskaya, Yulia; Pienroj, Panin (2018). Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1 October 2018 - 5 October 2018.

Abstract

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 simultaneous localization and mapping (SLAM).

Abstract

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 simultaneous localization and mapping (SLAM).

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Additional indexing

Item Type:Conference or Workshop Item (Speech), not_refereed, original work
Communities & Collections:07 Faculty of Science > Institute of Neuroinformatics
Dewey Decimal Classification:570 Life sciences; biology
Language:English
Event End Date:5 October 2018
Deposited On:12 Mar 2019 12:04
Last Modified:17 Mar 2019 06:51
Publisher:IEEE
OA Status:Green
Free access at:Official URL. An embargo period may apply.
Publisher DOI:https://doi.org/10.1109/IROS.2018.8594228

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