An Episodic Memory Model with Slow Features Extraction for Topological Map Building

Wei Hong Chin, Yuichiro Toda, Naoyuki Kubota, Jinseok Woo, Chu Kiong Loo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a new integration model for on-line topological map building with environment slow features detection. The proposed model is formed by the integration of Bayesian Adaptive Resonance Associative Memory (BARAM) and Incremental Slow Feature Analysis (IncSFA). IncSFA incrementally extracts slowly varying features from a rapidly changing input signal. These slow features will be fed to BARAM for environment learning to build a topological map. The explored environment is represented as a set of neurons (nodes) and edges that connecting all nodes. Each neuron represents a distinct place and edges store robot traverse information that leads the robot to travel from one node to another. The proposed model is an unsupervised learning technique that does not require any prior knowledge of what an environment is supposed to be for ease of implementation. The effectiveness of our proposed method is validated by several standardized benchmark datasets.

Original languageEnglish
Title of host publicationMHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538667927
DOIs
Publication statusPublished - Dec 2018
Event29th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2018 - Nagoya, Japan
Duration: Dec 10 2018Dec 12 2018

Publication series

NameMHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science

Conference

Conference29th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2018
CountryJapan
CityNagoya
Period12/10/1812/12/18

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Instrumentation

Fingerprint Dive into the research topics of 'An Episodic Memory Model with Slow Features Extraction for Topological Map Building'. Together they form a unique fingerprint.

Cite this