FIU MMC Lake Experimental Results and Parameters

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Experience Maps

Dead Reckoning

FIU MMC Lake

RatSLAM

FIU MMC Lake

NeoSLAM

FIU MMC Lake

Visual Templates and Experience IDs

RatSLAM

FIU MMC Lake

NeoSLAM

FIU MMC Lake

Parameter Values

RatSLAM

**Local View Module**
Parameter	Value
`image_crop_x_min`	40
`image_crop_x_max`	600
`image_crop_y_min`	150
`image_crop_y_max`	300
`template_x_size`	60
`template_y_size`	20
`vt_shift_match`	25
`vt_step_match`	5
`vt_match_threshold`	0.073
`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`	0.00002
`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`	0.05

**Experience Map Module**
Parameter	Value
`exp_loops`	50
`exp_initial_em_deg`	180.0
`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`	384
`theta_rho`	3
`score_interval`	410

**Pose Cell Module**
Parameter	Value
`pc_dim_xy`	18
`pc_cell_x_size`	1
`pc_vt_inject_energy`	0.2
`exp_delta_pc_threshold`	2.0
`vt_active_decay`	1.0
`pc_vt_restore`	0.05

**Experience Map Module**
Parameter	Value
`exp_loops`	50
`exp_initial_em_deg`	180
`exp_correction`	0.5