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Whisker-RatSLAM Applied to 6D Object Identification and Spatial Localisation

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Biomimetic and Biohybrid Systems (Living Machines 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10928))

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Abstract

The problem of tactile object identification has a strong connection with the problem of Simultaneous Localization and Mapping (SLAM) in a physical 6-dimensional environment. Here we introduce our preliminary results describing the performance of our RatSLAM-inspired 6D SLAM algorithm dubbed Whisker-RatSLAM, which is used to map and localize a whisker-array relative to the surface of an object. We show that our approach can successfully localize using the physical and simulation data sets taken from an active array of artificial whiskers as they explore a range of household objects. We also demonstrate the ability of Whisker-RatSLAM to be used for object identification.

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Acknowledgement

This work was partially supported by the EPSRC Center for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE) at the Bristol Robotics Laboratory and has received funding from the European Unions Horizon 2020 Research and Innovation Program under Grant Agreement No. 720270 (HBP SGA1).

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Authors and Affiliations

  1. Bristol Robotics Laboratory, University of the West of England, Bristol, UK

    Mohammed Salman & Martin J. Pearson

  2. Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Mohammed Salman & Martin J. Pearson

Authors
  1. Mohammed Salman
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  2. Martin J. Pearson
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Corresponding author

Correspondence to Mohammed Salman .

Editor information

Editors and Affiliations

  1. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Vasiliki Vouloutsi

  2. Laboratoire Interdisciplinaire des, Université Paris Diderot, Paris Cedex 13, France

    José Halloy

  3. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Anna Mura

  4. University of Sheffield, Sheffield, United Kingdom

    Michael Mangan

  5. Bristol University, Bristol, United Kingdom

    Nathan Lepora

  6. University of Sheffield, Sheffield, United Kingdom

    Tony J. Prescott

  7. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Paul F.M.J. Verschure

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Salman, M., Pearson, M.J. (2018). Whisker-RatSLAM Applied to 6D Object Identification and Spatial Localisation. In: Vouloutsi , V., et al. Biomimetic and Biohybrid Systems. Living Machines 2018. Lecture Notes in Computer Science(), vol 10928. Springer, Cham. https://doi.org/10.1007/978-3-319-95972-6_44

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  • DOI: https://doi.org/10.1007/978-3-319-95972-6_44

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-95971-9

  • Online ISBN: 978-3-319-95972-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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