ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM
This work addresses SLAM for biomimetic robots, but it appears incremental as it builds on existing bio-inspired approaches with specific improvements.
The authors tackled the problem of multi-sensory SLAM by proposing a bio-inspired approach called ViTa-SLAM, which showed promising performance enhancements in loop-closure detection over existing bio-inspired methods in simulated evaluations.
In this work, we propose a novel, bio-inspired multi-sensory SLAM approach called ViTa-SLAM. Compared to other multisensory SLAM variants, this approach allows for a seamless multi-sensory information fusion whilst naturally interacting with the environment. The algorithm is empirically evaluated in a simulated setting using a biomimetic robot platform called the WhiskEye. Our results show promising performance enhancements over existing bio-inspired SLAM approaches in terms of loop-closure detection.