An attentive, multi-modal laser "eye"

Authors:
Simone Frintrop;Erich Rome;Andreas Nüchter;Hartmut Surmann
Affiliations:
Fraunhofer Institut für Autonome Intelligente Systeme, Sankt Augustin, Germany;Fraunhofer Institut für Autonome Intelligente Systeme, Sankt Augustin, Germany;Fraunhofer Institut für Autonome Intelligente Systeme, Sankt Augustin, Germany;Fraunhofer Institut für Autonome Intelligente Systeme, Sankt Augustin, Germany
Venue:
ICVS'03 Proceedings of the 3rd international conference on Computer vision systems
Year:
2003

Citing 5
Cited 1

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 scene segmentation: integrating depth and motion

Computer Vision and Image Understanding
Reconstructing Textured CAD Model of Urban Environment Using Vehicle-Borne Laser Range Scanners and Line Cameras

ICVS '01 Proceedings of the Second International Workshop on Computer Vision Systems
A context-dependent attention system for a social robot

IJCAI'99 Proceedings of the 16th international joint conference on Artificial intelligence - Volume 2

Visual attention for object recognition in spatial 3d data

WAPCV'04 Proceedings of the Second international conference on Attention and Performance in Computational Vision

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper we present experimental results on a novel application of visual attention mechanisms for the selection of points of interest in an arbitrary scene. The imaging sensor used is a multimodal 3D laser scanner. In a single 3D scan pass, it is capable of providing range data as well as a gray-scale intensity image. The scanner is mounted on top of an autonomous mobile robot and serves control purposes. We present results achieved by applying the visual attention system of Itti et al. [8] to recorded scans of indoor and outdoor scenes. The vast majority of the primary attended locations pointed to scene objects of potential interest for navigation and object detection tasks. Moreover, both sensor modalities complement each other, resulting in a greater variety of points of interest than one modality alone can provide.