TY - GEN
T1 - Robot navigation by panoramic vision and attention guided features
AU - Bur, Alexandre
AU - Tapus, Adriana
AU - Ouerhani, Nabil
AU - Siegwart, Roland
AU - Hügli, Heinz
PY - 2006/1/1
Y1 - 2006/1/1
N2 - In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose robots. In order to fulfill new requirements of robot versatility and robustness to environmental changes, we propose in this paper to perform the feature selection of a panoramic vision system by means of the saliency-based model of visual attention, a model known for its universality. The first part of the paper describes a localization system combining panoramic vision and visual attention. The second part presents a series of indoor localization experiments using panoramic vision and attention guided feature detection. The results show the feasibility of the approach and illustrate some of its capabilities.
AB - In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose robots. In order to fulfill new requirements of robot versatility and robustness to environmental changes, we propose in this paper to perform the feature selection of a panoramic vision system by means of the saliency-based model of visual attention, a model known for its universality. The first part of the paper describes a localization system combining panoramic vision and visual attention. The second part presents a series of indoor localization experiments using panoramic vision and attention guided feature detection. The results show the feasibility of the approach and illustrate some of its capabilities.
U2 - 10.1109/ICPR.2006.998
DO - 10.1109/ICPR.2006.998
M3 - Conference contribution
AN - SCOPUS:34047238733
SN - 0769525210
SN - 9780769525211
T3 - Proceedings - International Conference on Pattern Recognition
SP - 695
EP - 698
BT - Track A
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Pattern Recognition, ICPR 2006
Y2 - 20 August 2006 through 24 August 2006
ER -