OpenRatSLAM source code
RatSLAM is a robot navigation and SLAM system based on computational models of the hippocampus. The approach uses a combination of appearance based visual scene matching, competitive attractor networks, and a semi-metric topological map representation. The approach has been proven in a real time 40 hour robot delivery task, mapping an entire Australian suburb and on Oxford's New College dataset. Notably, RatSLAM works well on images obtained from cheap cameras. The RatSLAM system contrasts many of the other SLAM approaches that involve expensive precision laser sensors and occupancy grids.
This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. The authors allow the users of OpenSLAM.org to use and modify the source code for their own research. Any commercial application, redistribution, etc has to be arranged between users and authors individually and is not covered by OpenSLAM.org.
Michael Milford, Gordon Wyeth and David Prasser, "RatSLAM : a hippocampal model for simultaneous localization and mapping," In Proceedings of IEEE International Conference on Robotics and Automation, 2004. Retrieved from http://eprints.qut.edu.au/37593/
David Ball, Scott Heath, Janet Wiles, Gordon Wyeth, Peter Corke, Michael Milford: OpenRatSLAM: an open source brain-based SLAM system, Autonomous Robots, 2013 http://eprints.qut.edu.au/57758/
Michael Milford, Gordon Wyeth: Persistent navigation and mapping using a biologically inspired SLAM system, International Journal of Robotics Research, 2010 http://eprints.qut.edu.au/32815/
Artifical Intelligence and Image Processing
Information and Computing Science
Adaptive Agents and Intelligent Robotics
Dates of development
From 2004-01-01 to 2014-05-22
Phone: +61 7 3138 9969
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Published - Open Access