Place recognition is naturally informed by the mosaic of sensations we remember from previously visiting a location and general knowledge of our location in the world. Neurons in the mammalian brain (specifically in the hippocampus formation) named "place cells" are thought to reflect this recognition of place and are involved in implementing a spatial map that can be used for path planning and memory recall. In this research, we use bat-inspired sonar to mimic how bats might sense objects in the environment and recognize the views associated with different places. These "echo view cells" may contribute (along with odometry) to the creation of place cell representations observed in bats. Although detailed sensory template matching is straightforward, it is quite unlikely that a flying animal or robot will return to the exact 3-D position and pose where the original memory was captured. Instead, we strive to recognize views over extended regions that are many body lengths in size, reducing the number of places to be remembered for a map. We have successfully demonstrated some of this spatial invariance by training feed-forward neural networks (traditional neural networks and spiking neural networks) to recognize 66 distinct places in a laboratory environment over a limited range of translations and rotations. We further show how the echo view cells respond between known views and how their outputs can be combined over time for continuity.
Keywords: bat; echolocation; neural network; place cells; place fields; robotics; skim; sonar.
Copyright © 2020 Isbell and Horiuchi.