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By Tingting Xu, Tianguang Zhang, Kolja Kühnlenz, Martin Buss and Technische Universität München

Abstract

A biologically inspired foveated attention system in an object detection scenario is proposed. Bottom-up attention is applied on a wide-angle stereo camera to select a sequence of fixation points. Successive snapshots of high foveal resolution using a telephoto camera enable highly accurate object recognition based on SIFT algorithm. Top-down information is incrementally estimated and integrated using a Kalman filter, enabling parameter adaptation to changing environments due to robot locomotion. In the experimental evaluation, all the target objects were detected in different backgrounds. Evident improvements in accuracy, flexibility and efficiency are achieved

Topics: Visual attention, active vision, robotics
Year: 2011
OAI identifier: oai:CiteSeerX.psu:10.1.1.190.8471
Provided by: CiteSeerX
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