Object- and space-based visual attention: An integrated framework for autonomous robots

Momotaz Begum, George K. I. Mann, Ray G. Gosine, Fakhri Karray

Abstract: This paper argues that the object- and space-based modes of visual attention can be naturally integrated in a common mathematical framework. In an earlier work we have proposed a mathematical model of visual attention for robotic system exploiting the knowledge of visual attention mechanism of the primates. This paper investigates on the validity of the proposed model for robotic systems through experimentation on a real robot. The paper sheds light on a number of real world issues involved with the design of visual attention system for physically embodied robots and explains how the proposed Bayesian model of visual attention addresses these issues. The object- and space-based modes of visual attention are naturally integrated in the model and is reflected in the sequential Monte Carlo implementation of the model on a real robot.