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Whisker-ratSLAM applied to 6D object identification and spatial localisation

Salman, Mohammed; Pearson, Martin J.


Mohammed Salman


© Springer International Publishing AG, part of Springer Nature 2018. 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.


Salman, M., & Pearson, M. J. (2018). Whisker-ratSLAM applied to 6D object identification and spatial localisation.

Conference Name Living Machines 2018
Start Date Jul 17, 2018
End Date Jul 20, 2018
Acceptance Date Jul 1, 2018
Online Publication Date Jul 7, 2018
Publication Date Jul 7, 2018
Deposit Date Apr 21, 2020
Publisher Springer Verlag
Pages 403-414
Series Title Lecture Notes in Computer Science
Series Number 10928
Series ISSN 0302-9743
ISBN 9783319959719
Public URL