A sensory map of the world is a key component of any cognitive system. For cognitive
systems navigating the physical world, this map is typically assumed to be a representation
of the three-dimensional geometries in the environment. For vision-based maps, this is not
an overly difficult goal to accomplish, since images have already two dimensions and hence
only depth has to be inferred from additional clues. For bats using biosonar to navigate
complex natural environments, such as dense vegetation, reconstruction of scatterer …