Visual attention servo control for task-specific robotic applications

International Journal of Control, Automation and Systems

Volumn 11, Issue 6, 2013, Pages 1241-1252

  Liu, Dong ^a   Cong, Ming ^a   Du, Yu ^b   Zhang, Yunfei ^b   De Silva, Clarence W ^b  

^a DALIAN UNIVERSITY OF TECHNOLOGY   (China)

^b UNIVERSITY OF BRITISH COLUMBIA   (Canada)

Author keywords

Attention selection; GMM; mobile robots; task specific attention; visual servo control

Indexed keywords

ATTENTION SELECTION; GAUSSIAN MIXTURE MODEL; GMM; IMAGE-BASED VISUAL SERVO; OBJECT REPRESENTATIONS; ROBOTIC APPLICATIONS; TASK-SPECIFIC ATTENTION; VISUAL SERVO CONTROL;

CONTROLLERS; IMAGE SEGMENTATION; MOBILE ROBOTS; OBJECT RECOGNITION; PNEUMATIC CONTROL EQUIPMENT; ROBOT APPLICATIONS; SEARCH ENGINES;

ROBOTICS;

EID: 84890617504     PISSN: 15986446     EISSN: 20054092     Source Type: Journal    
DOI: 10.1007/s12555-012-9505-6     Document Type: Article

References (31)

1. M. Begum and F. Karray, "Visual attention for robotic cognition: a survey," IEEE Trans. on Autonomous Mental Development, vol. 3, no. 1, pp. 92-105, 2011.
2. S. Kastner and L. G. Ungerleider, "The neural basis of biased competition in human visual cortex," Neuropsychologia, vol. 39, pp. 1263-1276, 2001.
3. J. M. Henderson, J. R. Brockmole, M. S. Castelhano, and M. Mack, "Visual saliency does not account for eye movements during visual search in real-world scenes," Eye Movements: A Window on Mind and Brain, pp. 537-562, 2007.
4. B. J. Scholl, "Objects and attention: the state of art," Cognition, vol. 80, no. 1/2, pp. 1-46, 2001.
5. K. R. Cave, "The feature gate model of visual selection," Psychological Research, vol. 62, pp. 182-194, 1999.
6. L. Itti and C. Koch, "A saliency based search mechanism for overt and covert shift of visual attention," Vision Research, vol. 40, pp. 1489-1506, 2000.
7. F. Orabona, G. Metta, and G. Sandini, "Objectbased visual attention: A model for a behaving robot," Proc. of the IEEE Int. Conf. on Computer Vision and Pattern Recognition, pp. 89-97, 2005.
8. T. Wu, J. Gao, and Q. Zhao, "A computational model of object-based selective visual attention mechanism in visual information acquisition," Proc. of the IEEE Int. Conf. on Information and Acquisition, pp. 405-409, 2004.
9. S. Hutchinson, G. D. Hager, and P. I. Corke, "A tutorial on visual servo control," IEEE Trans. On Robotics and Automation, vol. 12, no. 5, pp. 651-670, 1996.
10. F. Chaumette and S. Hutchinson, "Visual servo control part I: Basic approaches," IEEE Robotics and Automation Magazine, vol. 13, no. 4, pp. 82-90, 2006.
11. F. Chaumette and S. Hutchinson, "Visual servo control part II: Advanced approaches," IEEE Robotics and Automation Magazine, vol. 14, no. 1, pp. 109-118, 2007.
12. Y. Wang, H. Lang, and C.W. de Silva, "A hybrid visual servoing controller for robust manipulation using mobile robots," IEEE Trans. on Mechatronics, vol. 15, no. 5, pp. 757-769, 2010.
13. A. Borji, M. N. Ahmadabadi, B. N. Araabi, and M. Hamidi, "Online learning of task-driven object-based visual attention control," Image and Vision Computing, vol. 28, pp. 1130-1145, 2010.
14. L. Itti, C. Koch, and E. Niebur, "A model of saliency-based visual attention for rapid scene analysis," IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 20, no. 11, pp. 1254-1259, 1998.
15. R. Achanta, S. Hemami, F. Estrada, and S. Süsstrunk, "frequency-tuned salient region detection," Proc. of the IEEE Int. Conf. on Computer Vision and Pattern Recognition, pp. 1597-1604, 2009.
16. J. M. Wolfe, "Guided search 2.0: A revised model of visual search," Psychonomic Bulletin and Review, vol. 1, no. 2, pp. 202-238, 1994.
17. V. Navalpakkam and L. Itti, "Top-down attention selection is fine grained," Journal of Vision, vol. 6, pp. 1180-1193, 2006.
18. S. Frintrop, "VOCUS: a visual attention system for object detection and goal-directed search," Lecture Notes in Artificial Intelligence, vol. 3899, pp. 1-5, 2006.
19. Y. Kim, M. V. Velsen, and R. W. Hill, "Modeling dynamic perceptual attention in complex virtual environments," Proc. of the 5th Int. Working Conf. on Intelligent Virtual Agents, pp. 266-277, 2005.
20. M. Begum, F. Karray, G. K. I. Mann, and R. G. Gosine, "A probabilistic model of overt visual attention for cognitive robots," IEEE Trans. on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 40, no. 5, pp. 1305-1318, 2010.
21. Y. L. Yu, G. K. I. Mann, and R. G. Gosine, "An object-based visual attention model for robotic applications" IEEE Trans. on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 40, no. 5, pp. 1398-1411, 2010.
22. A. D. Luca, G. Oriolo, and P. R. Giordano, "Imagebased visual servoing schemes for nonholonomic mobile manipulators," Robotica, vol. 25, no. 2, pp. 131-145, 2007.
23. N. Mansard, O. Stasse, F. Chaumette, and K. Yokoi, "Visually-guided grasping while walking on a humanoid robot," Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 3041-3047, 2007.
24. Y. Endo and R. C. Arkin, "Anticipatory robot navigation by simultaneously localizing and building a cognitive map," Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems, pp. 460-466, 2003.
25. Y. Endo, "Anticipatory robot control for a partially observable environment using episodic memories," Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems, pp. 2852-2859, 2008.
26. G. McLachlan and D. Peel, Finite Mixture Models, Wiley, New York, 2000.
27. A. Dempster and N. L. D. Rubin, "Maximum likelihood from incomplete data via the EM algorithm," Journal of the Royal Statistical Society B, vol. 39, no. 1, pp. 1-38, 1977.
28. S. Arivazhagan, L. Ganesan, and S. P. Priyal, "Texture classification using Gabor wavelets based rotation invariant features," Pattern Recognition Letters, vol. 27, no. 6, pp. 1976-1982, 2006.
29. C. Christoudias, B. Georgescu, and P. Meer, "Synergism in low level vision," Proc. of the IEEE Int. Conf. on Pattern Recognition, pp. 150-155, 2002.
30. D. Comaniciu and P. Meer, "Mean shift: a robust approach toward feature space analysis," IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 24, no. 5, pp. 603-619, 2002.
31. M. W. Spong, S. Hutchinson, and M. Vidyadagar, Robot Modeling and Control, Wiley, New York, 2006.