FIU BBC Pier Experimental Results and Parameters

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Experience Maps

Dead Reckoning

FIU BBC Pier

RatSLAM

FIU BBC Pier

NeoSLAM

FIU BBC Pier

Visual Templates and Experience IDs

RatSLAM

FIU BBC Pier

NeoSLAM

FIU BBC Pier

Parameter Values

RatSLAM

**Local View Module**
Parameter	Value
`image_crop_x_min`	40
`image_crop_x_max`	600
`image_crop_y_max`	150
`image_crop_y_min`	300
`template_x_size`	60
`template_y_size`	20
`vt_shift_match`	25
`vt_step_match`	5
`vt_match_threshold`	0.065
`vt_normalisation`	0.0
`vt_patch_normalise`	2
`vt_panoramic`	0

RatSLAM

**Pose Cell Module**
Parameter	Value
`pc_dim_xy`	18
`pc_dim_th`	36
`pc_global_inhib`	default
`pc_cell_x_size`	1.0
`pc_vt_inject_energy`	0.2
`exp_delta_pc_threshold`	2.0
`vt_active_decay`	1.0
`pc_vt_restore`	default

**Experience Map Module**
Parameter	Value
`exp_loops`	50
`exp_initial_em_deg`	194.0
`exp_correction`	0.5

NeoSLAM

**Visual Feature Extractor**
Parameter	Value
`use_compressed`	false

**Neocortex Module**
Parameter	Value
`tm_column_dimensions`	2048
`tm_cells_per_column`	32
`tm_activation_threshold`	4
`tm_initial_permanence`	0.55
`tm_connected_permanence`	0.5
`tm_min_threshold`	1
`tm_max_new_synapse_count`	20
`tm_permanence_increment`	0.01
`tm_permanence_decrement`	0.01
`tm_predicted_segment_decrement`	0.0005
`tm_max_segments_per_cell`	100
`tm_max_synapses_per_segment`	100
`tm_seed`	42

NeoSLAM

**Spatial-View Module**
Parameter	Value
`theta_alpha`	450
`theta_rho`	4
`score_interval`	360
`exclude_recent_intervals`	50

**Pose Cell Module**
Parameter	Value
`pc_dim_xy`	18
`pc_cell_x_size`	1
`pc_vt_inject_energy`	0.08
`exp_delta_pc_threshold`	2.0
`vt_active_decay`	2.0
`pc_vt_restore`	0.1

**Experience Map Module**
Parameter	Value
`exp_loops`	50
`exp_initial_em_deg`	194
`exp_correction`	0.5