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* '''Authors:''' Marta Martínez de la Casa (marta06111981 [at] yahoo [dot] es) and Jose María Cañas Plaza (jmplaza [at] gsyc [dot] es)
* '''Academic Year:''' 2004-2005
* '''Degree:''' Grad
* '''Abstract:'''
We have programmed a visual overt attention mechanism which builds and keeps updated a scene representation of all the relevant objects around a robot, especially if they are far away of each other and do not lie in the same camera image. The algorithm chooses the next fixation point for a monocular camera, which is mounted over a pantilt unit. The relevant objects are the pink ones. Our approach is based on two related dynamics: liveliness and saliency. The liveliness of each relevant object diminishes in time but increases with new observations of such object. The position of each valid object is a possible fixation point for the camera. The saliency of each fixation point increases in time but is reset after the camera visit such location. Take a look at these videos to see the algorithm in action: three objets, initial sweep and disappearing object.
* '''Documentation:''' Thesis Report: [http://jde.gsyc.es/multimedia/pfc/marta/pfc-atencionescena2005.pdf PDF]

== Images == 

<img width="640" height="480">http://jde.gsyc.es/multimedia/pfc/marta/IMGP0759.JPG</img>

<img width="640" height="480">http://jde.gsyc.es/multimedia/pfc/marta/escena-20050505-1.jpg</img>

<img width="640" height="480">http://jde.gsyc.es/multimedia/pfc/marta/escena-20050505-2.jpg</img>

<img width="480" height="480">http://jde.gsyc.es/multimedia/pfc/marta/escena-20050505-3.png</img>

<img width="640" height="480">http://jde.gsyc.es/multimedia/pfc/marta/foto2.png</img>

<img width="640" height="480">http://jde.gsyc.es/multimedia/pfc/marta/foto4.png</img>

<img width="640" height="480">http://jde.gsyc.es/multimedia/pfc/marta/foto10.png</img>

== Videos ==

<video width=320 height=240 >http://jde.gsyc.es/multimedia/pfc/marta/pfc-escena1.flv</video>
<video width=320 height=240 >http://jde.gsyc.es/multimedia/pfc/marta/pfc-escena2.flv</video>
<video width=320 height=240 >http://jde.gsyc.es/multimedia/pfc/marta/pfc-escena3.flv</video>

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