Testing a Theory of Perceptual Mapping Using Robots

This paper describes the implementation of a new approach to mapping using a mobile robot that is based upon a theory of human perceptual mapping. Its key feature is that it does not need to continuously track the robot's position as the robot moves through the environment and it does not perform error correction due to robot sensors. It still manages to produce an approximate map of the environment that is adequate for orienting oneself and for knowing where things are located. Arguably, it is the kind of map that humans seem to have.

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