Autonomous switching of top-down and bottom-up attention selection for vision guided mobile robots

In this paper an autonomous switching between two basic attention selection mechanisms, top-down and bottom-up, is proposed, substituting manual switching. This approach fills the gab in object search using conventional top-down biased bottom-up attention selection: the latter one fails, if a group...

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Bibliographic Details
Main Authors: Tingting Xu, Chenkov, N., Kuhnlenz, K., Buss, M.
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
Cameras
Computational modeling
Humans
Intelligent robots
Machine vision
Manuals
Mobile robots
Robot vision systems
USA Councils
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Summary:In this paper an autonomous switching between two basic attention selection mechanisms, top-down and bottom-up, is proposed, substituting manual switching. This approach fills the gab in object search using conventional top-down biased bottom-up attention selection: the latter one fails, if a group of objects is searched whose appearances can not be uniquely described by low-level features used in bottom-up computation models. Two internal robot states, observing and operating, are included to determine the visual selection behavior. A vision guided mobile robot, equipped with an active stereo camera, is used to demonstrate our strategy and evaluate the performance experimentally.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354674