论文信息 - Real time implementation of a selective attention model for the intelligent robot with autonomous mental development

Real time implementation of a selective attention model for the intelligent robot with autonomous mental development

We propose a biologically motivated selective attention model to find an object based on context free search for an intelligent robot with an autonomous mental development (AMD) mechanism. For real-time operation of the selective attention model in the robot system, we have considered a way to reduce the computational load of the selective attention model, which uses a simplified symmetry operation with retina-topic sampling and look-up table in the localized candidate attention region. As a result, our model can perform within 270 ms at Pentium-4 2.8Ghz, and obtain a plausible human-like visual scan path in order to pay attention to an object preferentially. Then, we implemented an intelligent mobile robot with selective attention for an AMD mechanism.

Minho Lee | Sang-Woo Ban | Woong-Jae Won

[1] Sven J. Dickinson,et al. Active Object Recognition Integrating Attention and Viewpoint Control , 1994, Comput. Vis. Image Underst..

[2] J. Nicholls. From neuron to brain , 1976 .

[3] J. Moran,et al. Sensation and perception , 1980 .

[4] Sang-Hyeon Jo,et al. Context-free Marker Controlled Watershed Transform for Efficient Multi-object Detection and Segmentation , 2001 .

[5] Minho Lee,et al. Saliency map model with adaptive masking based on independent component analysis , 2002, Neurocomputing.

[6] John K. Tsotsos,et al. An Attentional Prototype for Early Vision , 1992, ECCV.

[7] Juyang Weng,et al. A theory for mentally developing robots , 2002, Proceedings 2nd International Conference on Development and Learning. ICDL 2002.