Egocentric Spatial Memory

Understand

Egocentric spatial memory (ESM) defines a memory system with encoding, storing, recognizing and recalling the spatial information about the environment from an egocentric perspective.

• We introduce an integrated deep neural network architecture for modeling ESM.
• It learns to estimate the occupancy state of the world and progressively construct top-down 2D global maps from egocentric views in a spatially extended environment.
• During the exploration, our proposed ESM model updates belief of the global map based on local observations using a recurrent neural network.