@Bitking thanks for your explanation. In the mean time, I read some papers and even the source codes of ratSLAM for better understanding the visual encoding. Currently, I really do not find any use of FFT for encoding vision in the source codes. Maybe, the use of FFT is only the first idea, but in the final version and also in software implementation, it is more useful to use very simple algorithms for calculating the match quality between two images than expensive methods. I believe, the ratslam combines visual sensing and sensor motion and simulates the function/perception of entorhinal cortex…
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