In the present study, we propose a model of multimodal place cells merging visual and proprioceptive primitives. First we will briefly present our previous sensory-motor architecture, highlighting limitations of a visual-only based system. Then we will introduce a new model of proprioceptive localization, giving rise to the so-called grid cells, wich are congruent with neurobiological studies made on rodent. Finally we will show how a simple conditionning rule between both modalities can outperform visual-only driven models by producing robust multimodal place cells. Experiments show that this model enhances robot localization and also allows to solve some benchmark problems for real life robotics applications. © 2012 Springer-Verlag.
CITATION STYLE
Jauffret, A., Cuperlier, N., Gaussier, P., & Tarroux, P. (2012). Multimodal integration of visual place cells and grid cells for navigation tasks of a real robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7426 LNAI, pp. 136–145). https://doi.org/10.1007/978-3-642-33093-3_14
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