NeuroSLAM: a brain-inspired SLAM system for 3D environments.

Roboticists have long drawn inspiration from nature to develop navigation and simultaneous localization and mapping (SLAM) systems such as RatSLAM. Animals such as birds and bats possess superlative navigation capabilities, robustly navigating over large, three-dimensional environments, leveraging an internal neural representation of space combined with external sensory cues and self-motion cues. This paper presents a novel neuro-inspired 4DoF (degrees of freedom) SLAM system named NeuroSLAM, based upon computational models of 3D grid cells and multilayered head direction cells, integrated with a vision system that provides external visual cues and self-motion cues. NeuroSLAM's neural network activity drives the creation of a multilayered graphical experience map in a real time, enabling relocalization and loop closure through sequences of familiar local visual cues. A multilayered experience map relaxation algorithm is used to correct cumulative errors in path integration after loop closure. Using both synthetic and real-world datasets comprising complex, multilayered indoor and outdoor environments, we demonstrate NeuroSLAM consistently producing topologically correct three-dimensional maps.

Improved progressive morphological filter for digital terrain model generation from airborne lidar data.

Obtaining high-precision filtering results from airborne lidar point clouds in complex environments has always been a hot topic. Mathematical morphology was widely used for filtering, owing to its simplicity and high efficiency. However, the morphology-based algorithms are deficient in preserving terrain details. In order to obtain a better filtering effect, this paper proposed an improved progressive morphological filter based on hierarchical radial basis function interpolation (PMHR) to refine the classical progressive morphological filter. PMHR involved two main improvements, namely, automatic setting of self-adaptive thresholds and terrain details preservation, respectively. The performance of PMHR was evaluated using datasets provided by the International Society for Photogrammetry and Remote Sensing. Experimental results show that PMHR achieved good performance under variant terrain features with an average total error of 4.27% and average Kappa coefficient of 84.57%.

A Combination of Geographically Weighted Regression, Particle Swarm Optimization and Support Vector Machine for Landslide Susceptibility Mapping: A Case Study at Wanzhou in the Three Gorges Area, China.

In this study, a novel coupling model for landslide susceptibility mapping is presented. In practice, environmental factors may have different impacts at a local scale in study areas. To provide better predictions, a geographically weighted regression (GWR) technique is firstly used in our method to segment study areas into a series of prediction regions with appropriate sizes. Meanwhile, a support vector machine (SVM) classifier is exploited in each prediction region for landslide susceptibility mapping. To further improve the prediction performance, the particle swarm optimization (PSO) algorithm is used in the prediction regions to obtain optimal parameters for the SVM classifier. To evaluate the prediction performance of our model, several SVM-based prediction models are utilized for comparison on a study area of the Wanzhou district in the Three Gorges Reservoir. Experimental results, based on three objective quantitative measures and visual qualitative evaluation, indicate that our model can achieve better prediction accuracies and is more effective for landslide susceptibility mapping. For instance, our model can achieve an overall prediction accuracy of 91.10%, which is 7.8%-19.1% higher than the traditional SVM-based models. In addition, the obtained landslide susceptibility map by our model can demonstrate an intensive correlation between the classified very high-susceptibility zone and the previously investigated landslides.