Bousquet, Olivier, Balakrishnan, Karthik and Honavar, Vasant (1997) Is the Hippocampus a Kalman Filter?. Technical Report TR97-11, Department of Computer Science, Iowa State University.
Growing evidence suggests that
the hippocampal formation functions as a relational (or
episodic) memory, and on tasks of a spatial nature, it
serves as a place learning and recognition system.
In this paper we develop a
computational characterization of the hippocampal formation pertaining
to spatial learning and localization, and show that the
information processing posited
for this structure closely matches an engineering tool for
probabilistic spatial localization of robots: the Kalman filter. Based
on this parallel, we derive expressions for information integration,
propagation of covariances, and near-optimal update rules for the
localization performed by our computational model.
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