Evaluation of Visual Attention Models for Robots

Abstract

This paper presents a new approach for providing visual attention on robot vision systems. Compared to other approaches our method is very fast as it processes regions rather than individual pixels. The proposed method first builds a list of regions by applying a shade and shadow tolerant segmentation step. The features of these regions are computed using their convex hulls in order to simplify and accelerate the processing. Feature values are stored within the records of respective regions instead of constructing a master map of attention. Then an algorithmic method is applied for finding the focus of attention in contrast to mathematical approaches used by existing models. Experiments conducted on simulated and real image data have not only demonstrated the validity of the proposed approach but have also led to the establishment of a comprehensive robotic vision system.