Marta-pfc-II
From jderobot
- 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: PDF
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