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WhiskEye: A biomimetic model of multisensory spatial memory based on sensory reconstruction

Knowles, Thomas C; Stentiford, Rachael; Pearson, Martin J.

Authors

Thomas C Knowles

Rachael Stentiford



Abstract

We present WhiskEye, a visual tactile robot supporting a neurorobotic investigation of spatial memory as a multisensory reconstructive process. This article outlines the motivation for building WhiskEye; the technical details of the physical robot, and the publicly available simulated platform via the NeuroRobotics Platform (NRP) from the Human Brain Project; and the biomimetic control architecture. The multisensory reconstruction model of place recognition based on deep predictive coding network is presented and datasets collected from the NRP are used to train and test the network. We demonstrate that the joint latent representations inferred by this system are positively correlated to displacements in pose space suggesting it is an advantageous sensory processing front-end for our neuro-plausible model of spatial memory.

Citation

Knowles, T. C., Stentiford, R., & Pearson, M. J. (2021). WhiskEye: A biomimetic model of multisensory spatial memory based on sensory reconstruction. In TAROS 2021: Towards Autonomous Robotic Systems (408-418). https://doi.org/10.1007/978-3-030-89177-0_43

Conference Name TAROS 2021
Conference Location Online (University of Lincoln)
Start Date Sep 8, 2021
End Date Sep 10, 2021
Acceptance Date Jul 1, 2021
Online Publication Date Oct 31, 2021
Publication Date Oct 31, 2021
Deposit Date Dec 8, 2021
Publicly Available Date Nov 1, 2022
Publisher Springer
Volume 13054
Pages 408-418
Series Title Lecture Notes in Computer Science
Book Title TAROS 2021: Towards Autonomous Robotic Systems
Chapter Number 43
ISBN 9783030891763
DOI https://doi.org/10.1007/978-3-030-89177-0_43
Public URL https://uwe-repository.worktribe.com/output/7931147

Files

This file is under embargo until Nov 1, 2022 due to copyright reasons.

Contact Tom.Knowles@uwe.ac.uk to request a copy for personal use.






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