Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
The Design and Use of Steerable Filters
IEEE Transactions on Pattern Analysis and Machine Intelligence
Modeling visual attention via selective tuning
Artificial Intelligence - Special volume on computer vision
A Model of Saliency-Based Visual Attention for Rapid Scene Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
Attentional Strategies for Object Recognition
IWANN '99 Proceedings of the International Work-Conference on Artificial and Natural Neural Networks: Foundations and Tools for Neural Modeling
Exploring artificial intelligence in the new millennium
Pyramidal implementation of deformable kernels
ICIP '95 Proceedings of the 1995 International Conference on Image Processing (Vol. 1)-Volume 1 - Volume 1
2003 AAAI robot competition and exhibition
AI Magazine
A Sparse Object Category Model for Efficient Learning and Exhaustive Recognition
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
APES: Attentively Perceiving Robot
Autonomous Robots
VOCUS: A Visual Attention System for Object Detection and Goal-Directed Search (Lecture Notes in Computer Science / Lecture Notes in Artificial Intelligence)
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Model performance for visual attention in real 3d color scenes
IWINAC'05 Proceedings of the First international work-conference on the Interplay Between Natural and Artificial Computation conference on Artificial Intelligence and Knowledge Engineering Applications: a bioinspired approach - Volume Part II
A visual attention-based approach for automatic landmark selection and recognition
WAPCV'04 Proceedings of the Second international conference on Attention and Performance in Computational Vision
Robot steering with spectral image information
IEEE Transactions on Robotics
Bottom-Up Gaze Shifts and Fixations Learning by Imitation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Design of steerable filters for feature detection using canny-like criteria
IEEE Transactions on Pattern Analysis and Machine Intelligence
Steerable wedge filters for local orientation analysis
IEEE Transactions on Image Processing
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In task-oriented exploration a robot has to direct its sight and delving towards the most promising regions of the environment, according to the task, in order to optimize its search. If the goal is dynamically set on the basis of what it is perceived, attention plays a crucial role, as it allows to combine fast glancing with accurate analysis, enabling the robot to quickly jump to conclusion by selecting the interesting spots in the environment requiring a further analysis. We present a new approach to attentive exploration designed for an autonomous rover working in rescue scenarios. The visual-attention process combined with the simultaneous localization and mapping one guides the robot search through an incremental generation of a view-pointsaliency map obtained according to transportation processes. Interesting features emerging from pre-attentive pop-outs are projected on the current metric map and, according the preference engendered, diffuse streams of particles warming up those map areas they pass through, in so generating hot regions that result in optimal vantage points for the robot to observe the salient spots glanced at while searching. We show the effectiveness of the approach by providing experimental results and comparisons.