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Additionally, we utilize the pose cells network, which incorporates the similarity between current and previous templates, along with odometry data, to encode spatial information and store it as an experience map. To validate the effectiveness of the proposed model, we conducted evaluations on datasets collected within our library, campus, and an open-source office dataset. The experimental results reveal that our algorithm increases the <jats:italic>F<\/jats:italic>1-score of template matching by approximately 10.5<jats:inline-formula><jats:alternatives><jats:tex-math>$$ \\% $$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                  <mml:mo>%<\/mml:mo>\n                <\/mml:math><\/jats:alternatives><\/jats:inline-formula>, 35.8<jats:inline-formula><jats:alternatives><jats:tex-math>$$ \\% $$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                  <mml:mo>%<\/mml:mo>\n                <\/mml:math><\/jats:alternatives><\/jats:inline-formula>, 61.7<jats:inline-formula><jats:alternatives><jats:tex-math>$$ \\% $$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                  <mml:mo>%<\/mml:mo>\n                <\/mml:math><\/jats:alternatives><\/jats:inline-formula>, and 1.9<jats:inline-formula><jats:alternatives><jats:tex-math>$$ \\% $$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                  <mml:mo>%<\/mml:mo>\n                <\/mml:math><\/jats:alternatives><\/jats:inline-formula> in each dataset, compared to the conventional RatSLAM method. Furthermore, our algorithm generates a more accurate map that closely correlates with the real-world trajectory without compromising on computation time. The results suggest that our bionic visual navigation model is reliable for both standard and extreme lighting conditions.<\/jats:p>","DOI":"10.1007\/s40747-023-01207-z","type":"journal-article","created":{"date-parts":[[2023,8,31]],"date-time":"2023-08-31T07:03:01Z","timestamp":1693465381000},"page":"1265-1281","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Bionic visual navigation model for enhanced template matching and loop closing in challenging lighting environments"],"prefix":"10.1007","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8014-2380","authenticated-orcid":false,"given":"Haidong","family":"Xu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2625-0310","authenticated-orcid":false,"given":"Shumei","family":"Yu","sequence":"additional","affiliation":[]},{"given":"Rongchuan","family":"Sun","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8354-2440","authenticated-orcid":false,"given":"Lining","family":"Sun","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,8,31]]},"reference":[{"key":"1207_CR1","doi-asserted-by":"publisher","first-page":"149","DOI":"10.1007\/s10514-012-9317-9","volume":"34","author":"D Ball","year":"2013","unstructured":"Ball D, Heath S, Wiles J et al (2013) Openratslam: an open source brain-based slam system. 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