SciELO - Scientific Electronic Library Online

 
vol.15 issue3Adaptive complementary filtering algorithm for mobile robot localization author indexsubject indexarticles search
Home Pagealphabetic serial listing  

Journal of the Brazilian Computer Society

Print version ISSN 0104-6500

Abstract

HEINEN, Milton Roberto  and  ENGEL, Paulo Martins. NLOOK: a computational attention model for robot vision. J. Braz. Comp. Soc. [online]. 2009, vol.15, n.3, pp. 3-17. ISSN 0104-6500.  http://dx.doi.org/10.1007/BF03194502.

The computational models of visual attention, originally proposed as cognitive models of human attention, nowadays are being used as front-ends to some robotic vision systems, like automatic object recognition and landmark detection. However, these kinds of applications have different requirements from those originally proposed. More specifically, a robotic vision system must be relatively insensitive to 2D similarity transforms of the image, as in-plane translations, rotations, reflections and scales, and it should also select fixation points in scale as well as position. In this paper a new visual attention model, called NLOOK, is proposed. This model is validated through several experiments, which show that it is less sensitive to 2D similarity transforms than other two well known and publicly available visual attention models: NVT and SAFE. Besides, NLOOK can select more accurate fixations than other attention models, and it can select the scales of fixations, too. Thus, the proposed model is a good tool to be used in robot vision systems.

Keywords : robot vision; visual attention; selective attention; focus of attention; biomimetic vision.

        · text in English     · pdf in English