By Topic

Autonomous Behavior-Based Switched Top-Down and Bottom-Up Visual Attention for Mobile Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Tingting Xu ; Insititute of Automatic Control Engineering, Technische Universität München, Munich, Germany ; Kolja Kuhnlenz ; Martin Buss

In this paper, autonomous switching between two basic attention selection mechanisms, i.e., top-down and bottom-up, is proposed. This approach fills a gap in object search using conventional top-down biased bottom-up attention selection, which fails, if a group of objects is searched whose appearances cannot be uniquely described by low-level features used in bottom-up computational models. Three internal robot states, such as observing, operating, and exploring, 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. This approach facilitates adaptations of visual behavior to different internal robot states and benefits further development toward cognitive visual perception in the robotics domain.

Published in:

IEEE Transactions on Robotics  (Volume:26 ,  Issue: 5 )