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Reference TypeConference Proceedings
Author(s)Vijayakumar, S.;Conradt, J.;Shibata, T.;Schaal, S.
TitleOvert visual attention for a humanoid robot
Journal/Conference/Book TitleIEEE International Conference on Intelligent Robots and Systems (IROS 2001)
Keywordsoculomotor control, visual attention, dynamic fields, saccades
AbstractThe goal of our research is to investigate the interplay between oculomotor control, visual processing, and limb control in humans and primates by exploring the computational issues of these processes with a biologically inspired artificial oculomotor system on an anthropomorphic robot. In this paper, we investigate the computational mechanisms for visual attention in such a system. Stimuli in the environment excite a dynamical neural network that implements a saliency map, i.e., a winner-take-all competition between stimuli while simultenously smoothing out noise and suppressing irrelevant inputs. In real-time, this system computes new targets for the shift of gaze, executed by the head-eye system of the robot. The redundant degrees-of- freedom of the head-eye system are resolved through a learned inverse kinematics with optimization criterion. We also address important issues how to ensure that the coordinate system of the saliency map remains correct after movement of the robot. The presented attention system is built on principled modules and generally applicable for any sensory modality.
Short TitleOvert visual attention for a humanoid robot

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