ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM
Oliver Struckmeier, Kshitij Tiwari, Martin J. Pearson, Ville Kyrki
TL;DR
ViTa-SLAM is a bio-inspired multi-sensory SLAM method that effectively fuses visuo-tactile information, demonstrating improved loop-closure detection in simulated environments with a biomimetic robot.
Contribution
It introduces a novel multi-sensory SLAM approach inspired by biological systems, enabling seamless sensory data fusion and interaction with environments.
Findings
Enhanced loop-closure detection performance
Effective multi-sensory information fusion
Validated in simulated biomimetic robot platform
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.
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Taxonomy
TopicsModular Robots and Swarm Intelligence · Tactile and Sensory Interactions · Interactive and Immersive Displays