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arXiv · 1904.05667

ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM

Oliver Struckmeier·Kshitij Tiwari·Martin J. Pearson·Ville Kyrki
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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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Oliver Struckmeier, Kshitij Tiwari, Martin J. Pearson, Ville Kyrki. 2019-04-11. ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM. https://arxiv.org/abs/1904.05667

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