Abstract
This work introduces an architecture for a robotic active
vision system equipped with a manipulator that is able to integrate
visual and non-visual (tactile) sensorimotor experiences. Inspired by
the human vision system, we have implemented a strict separation
of object location (where-data) and object features (what-data) in the
visual data stream. This separation of what- and where-data has computational advantage but requires sequential fixation of visual cues in order to create and update a coherent view of the world. Hence, visual attention mechanisms must be put in place to decide which is
the most task-relevant cue to fixate next. Regarding object manipulation many task relevant object properties (e.g. tactile feedback)
are not necessarily related to visual features. Therefore, it is important that non-visual object features can influence visual attention. We
present and demonstrate visual attention mechanisms for an active
vision system that are modulated by visual and non-visual object features.
Original language | English |
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Pages | 21-29 |
Number of pages | 9 |
Publication status | Published - Apr 2011 |
Event | Proceedings of the AISB Symposium on Architectures for Active Vision - York, United Kingdom of Great Britain and Northern Ireland Duration: 04 Apr 2011 → 07 Apr 2011 |
Conference
Conference | Proceedings of the AISB Symposium on Architectures for Active Vision |
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Country/Territory | United Kingdom of Great Britain and Northern Ireland |
City | York |
Period | 04 Apr 2011 → 07 Apr 2011 |