公开(公告)号：US10175662B2

公开(公告)日：2019-01-08

申请号：US15783908

申请日：2017-10-13

Applicant: Beijing University of Technology

Inventor： Naigong Yu ,  Yunhe Yuan ,  Xiaojun Jiang ,  Ti Li ,  Lue Fang ,  Ziwei Luo

IPC: B25J9/16 ,  G05B13/04 ,  G06N3/04 ,  G05D1/02 ,  G05B13/02

Abstract: A robot constructs a navigation map based on the cognitive mechanism of rat hippocampus. The robot collects current self-motion cues and color depth map information through exploring the environment; self-motion cues form spatial environment codes gradually through path integral and feature extraction of spatial cells in hippocampus, place field of place cells is gradually formed during exploring the process and covers the whole environment to form a cognitive map. Further, Kinect collects scene view and color depth map information of the current position in right ahead direction as an absolute reference, proceeding path closed-loop detection to correct the errors of the path integral. At a close-loop point, the system proceeds reset of spatial cells discharging activity to correct the errors of the path integral. The final point in navigation map includes coding information of place cells series, corresponding visual cues and position topological relationship.

公开(公告)号：US20180046153A1

公开(公告)日：2018-02-15

申请号：US15783908

申请日：2017-10-13

Applicant: Beijing University of Technology

Inventor： Naigong Yu ,  Yunhe Yuan ,  Xiaojun Jiang ,  Ti Li ,  Lue Fang ,  Ziwei Luo

IPC: G05B13/04 ,  G05D1/02 ,  B25J9/16

CPC classification number: G05B13/04 ,  B25J9/1671 ,  G05B13/027 ,  G05D1/02 ,  G05D1/0231 ,  G05D1/027

Abstract: A robot constructs a navigation map based on the cognitive mechanism of rat hippocampus. The robot collects current self-motion cues and color depth map information through exploring the environment; self-motion cues form spatial environment codes gradually through path integral and feature extraction of spatial cells in hippocampus, place field of place cells is gradually formed during exploring the process and covers the whole environment to form a cognitive map. Further, Kinect collects scene view and color depth map information of the current position in right ahead direction as an absolute reference, proceeding path closed-loop detection to correct the errors of the path integral. At a close-loop point, the system proceeds reset of spatial cells discharging activity to correct the errors of the path integral. The final point in navigation map includes coding information of place cells series, corresponding visual cues and position topological relationship.