Abstract
Learning processes which take place during the development of a biological nervous system enable it to extract mappings between external stimuli and its internal state. Precise egomotion estimation is essential to keep these external and internal cues coherent given the rich multisensory environment. In this paper we present a learning model which, given various sensory inputs, converges to a state providing a coherent representation of the sensory space and the cross-sensory relations. The developed model, implemented for 3D egomotion estimation on a quadrotor, provides precise estimates for roll, pitch and yaw angles.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Gibson, E.J.: Principles of Perceptual Learning and Development, pp. 369–394. ACC Press (1969)
Cook, M., Jug, F., Krautz, C., Steger, A.: Unsupervised learning of relations. In: Diamantaras, K., Duch, W., Iliadis, L.S. (eds.) ICANN 2010, Part I. LNCS, vol. 6352, pp. 164–173. Springer, Heidelberg (2010)
Weber, C., Wermter, S.: A self-organizing map of sigma-pi units. Neurocomputing 50, 2552–2560 (2007)
Mandal, A., Cichoki, A.: Non-Linear Canonical Correlation Analysis Using Alpha-Beta Divergence. Entropy 15, 2788–2804 (2013)
Westermann, G., Mareschal, D., Johnson, M.H., Sirois, S., Spratling, M.W., Thomas, M.S.: Neuroconstructivism. Dev. Sci. 10, 75–83 (2007)
Ganguli, D., Simoncelli, E.P.: Efficient Sensory Encoding and Bayesian Inference with Heterogeneous Neural Populations. Neural Computation 26, 2103–2134 (2014)
Hyon, L., Park, J., Lee, D., Kim, H.J.: Build your own quadrotor. IEEE Robotics and Automation Magazine, 33–45 (2012)
Lee, J.K., Park, E.J., Robinovich, S.N.: Estimation of attitude and external acceleration using inertial sensor measurement during various dynamic conditions. IEEE Transactions on Instrumentation and Measurement 61, 2262–2273 (2012)
Brent, R.P.: An Algorithm with Guaranteed Convergence for Finding a Zero of a Function. Algorithms for Minimization without Derivatives. Dover Books on Mathematics, pp. 47–58 (2013)
Axenie, C., Conradt, J.: Cortically inspired sensor fusion network for mobile robot egomotion estimation. Robotics and Autonomous Systems (2014)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Axenie, C., Conradt, J. (2015). Learning Sensory Correlations for 3D Egomotion Estimation. In: Wilson, S., Verschure, P., Mura, A., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2015. Lecture Notes in Computer Science(), vol 9222. Springer, Cham. https://doi.org/10.1007/978-3-319-22979-9_32
Download citation
DOI: https://doi.org/10.1007/978-3-319-22979-9_32
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22978-2
Online ISBN: 978-3-319-22979-9
eBook Packages: Computer ScienceComputer Science (R0)