Three-dimensional frames of references transformations using recurrent populations of neurons

Authors:
Eric L. Sauser;Aude G. Billard
Affiliations:
Ecole Polytechnique Fédérale de Lausanne (EPFL), Swiss Federal Institute of Technology Lausanne, Autonomous Systems Laboratory, CH-1015 Lausanne, Switzerland;Ecole Polytechnique Fédérale de Lausanne (EPFL), Swiss Federal Institute of Technology Lausanne, Autonomous Systems Laboratory, CH-1015 Lausanne, Switzerland
Venue:
Neurocomputing
Year:
2005

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Abstract

This work investigates whether population vector coding, a distributed computational paradigm, could be a principle mechanism for performing sensorimotor and frames of reference transformations. This paper presents a multilayer neural network that can perform arbitrary three-dimensional rotations and translations. We demonstrate, both formally and numerically, that the non-linearity of these transformations can be resolved thanks to the recurrent and concurrent activities of continuous populations of neurons.