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AttentiRobot: A Visual Attention-based Landmark Selection Approach for Mobile Robot Navigation
Auteur(s)
Ouerhani, Nabil
Hügli, Heinz
Gruener, G.
Codourey, A.
Date de parution
2004
In
Proceedings. 2nd international workshop on attention and performance in computational vision (WAPCV), ECVision (European Research Network for Cognitive Computer Vision Systems), 2004///1-7
Résumé
Visual attention refers to the ability of a vision system to rapidly detect visually salient locations in a given scene. On the other hand, the selection of robust visual landmarks of an environment represents a cornerstone of reliable vision-based robot navigation systems. Indeed, can salient scene locations provided by visual attention be useful for robot navigation ? This work investigates the potential and effectiveness of the visual attention mechanism to provide pre-attentive scene information to a robot navigation system. The basic idea is to detect and track the salient locations, or spots of attention by building trajectories that memorize the spatial and temporal evolution of these spots. Then, a persistency test, which is based on the examination of the lengths of built trajectories, allows the selection of good environment landmarks. The selected landmarks can be used for feature-based localization and mapping systems which helps mobile robot to accomplish navigation tasks.
Identifiants
Type de publication
journal article
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