A Map Construction Method Based on the Cognitive Mechanism of Rat Brain Hippocampus  

作　　者：Naigong Yu Hejie Yu 

机构地区：[1]Department of Information Science,Beijing University of Technology,Beijing,100124,China

出　　处：《Computer Modeling in Engineering & Sciences》2022年第5期1147-1169,共23页工程与科学中的计算机建模（英文）

基　　金：This research was funded by the National Science Foundation of China,Grant No.62076014;as well as the Beijing Natural Science Foundation under Grant No.4162012.

摘　　要：The entorhinal-hippocampus structure in the mammalian brain is the core area for realizing spatial cognition.However,the visual perception and loop detection methods in the current biomimetic robot navigation model still rely on traditional visual SLAM schemes and lack the process of exploring and applying biological visual methods.Based on this,we propose amap constructionmethod thatmimics the entorhinal-hippocampal cognitive mechanismof the rat brain according to the response of entorhinal cortex neurons to eye saccades in recent related studies.That is,when mammals are free to watch the scene,the entorhinal cortex neurons will encode the saccade position of the eyeball to realize the episodicmemory function.The characteristics of thismodel are as follows:1)A scenememory algorithmthat relies on visual saccade vectors is constructed to imitate the biological brain’s memory of environmental situation information matches the current scene information with the memory;2)According to the information transmission mechanism formed by the hippocampus and the activation theory of spatial cells,a localization model based on the grid cells of the entorhinal cortex and the place cells of the hippocampus was constructed;3)Finally,the scene memory algorithm is used to correct the errors of the positioning model and complete the process of constructing the cognitive map.The model was subjected to simulation experiments on publicly available datasets and physical experiments using a mobile robot platform to verify the environmental adaptability and robustness of the algorithm.The algorithm will provide a basis for further research into bionic robot navigation.

关 键 词：Entorhinal-Hippocampus visual SLAM episodic memory spatial cell cognitive map 

分 类 号：Q429[生物学—神经生物学]