ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM

Oliver Struckmeier; Kshitij Tiwari; Martin J. Pearson; Ville Kyrki

ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM

Robotics 2019-05-15 v3

Authors: Oliver Struckmeier , Kshitij Tiwari , Martin J. Pearson , Ville Kyrki

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.

Keywords

SLAM visuo-tactile bio-inspired multi-sensory fusion loop-closure detection biomimetic robot

Cite

@article{arxiv.1904.05667,
  title  = {ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM},
  author = {Oliver Struckmeier and Kshitij Tiwari and Martin J. Pearson and Ville Kyrki},
  journal= {arXiv preprint arXiv:1904.05667},
  year   = {2019}
}

Comments

2 pages, 5 figures, ICRA 2019 workshop

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