Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM

Raphaela Kreiser; Alpha Renner; Yulia Sandamirskaya; Panin Pienroj

IROS 2018poster55 citations

Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM

Raphaela Kreiser, Alpha Renner, Yulia Sandamirskaya, Panin Pienroj

Abstract

In this paper, we investigate the use of ultra low-power, mixed signal analog/digital neuromorphic hardware for implementation of biologically inspired neuronal path integration and map formation for a mobile robot. We perform spiking network simulations of the developed architecture, interfaced to a simulated robotic vehicle. We then port the neuronal map formation architecture on two connected neuromorphic devices, one of which features on-board plasticity, and demonstrate the feasibility of a neuromorphic realization of simultaneous localization and mapping (SLAM).

BibTeX

@inproceedings{iros2018_poseestimationan,
  title = {Pose Estimation and Map Formation with Spiking Neural Networks: towards Neuromorphic SLAM},
  author = {Raphaela Kreiser and Alpha Renner and Yulia Sandamirskaya and Panin Pienroj},
  booktitle = {IROS 2018},
  year = {2018}
}