A bimodal laser-based attention system

Autor(en): Frintrop, S
Rome, E
Nuchter, A
Surmann, H
Stichwörter: 3D laser scanner; bimodal sensor fusion; Computer Science; Computer Science, Artificial Intelligence; Engineering; Engineering, Electrical & Electronic; INDOOR; MODEL; ROBOT; saliency detection; STRATEGIES; VISION; visual attention; VISUAL-ATTENTION
Erscheinungsdatum: 2005
Herausgeber: ACADEMIC PRESS INC ELSEVIER SCIENCE
Journal: COMPUTER VISION AND IMAGE UNDERSTANDING
Volumen: 100
Ausgabe: 1-2
Startseite: 124
Seitenende: 151
Zusammenfassung: 
In this paper, we present a new bimodal attention system for robotic applications capable of processing data from different sensor modes simultaneously. Considering several sensor modalities is an obvious approach to regard a variety of object properties. Nevertheless, conventional attention systems only regard the processing of camera images. In contrast to these systems, the input data to our system are provided by a bimodal 3D laser scanner, mounted on top of an autonomous mobile robot. In a single 3D scan pass, the scanner yields range as well as reflectance data. Both data modes are illumination independent, yielding a robust approach that enables all day operation. Data from both laser modes are fed into our attention system built on principles of one of the standard models of visual attention by Koch and Ullman. The system computes conspicuities of both modes in parallel and fuses them into one saliency map. The focus of attention is directed to the most salient points in this map sequentially. We present results on recorded scans of indoor and outdoor scenes showing the respective advantages of the sensor modalities enabling the mode-specific detection of different object properties. Furthermore, we show as an application of the attention system the recognition of objects for building semantic 3D maps of the robot's environment. (c) 2005 Elsevier Inc. All rights reserved.
Beschreibung: 
1st International Workshop on Attention and Performance in Computer Vision, Graz, AUSTRIA, APR 03, 2003
ISSN: 10773142
DOI: 10.1016/j.cviu.2004.08.005

Show full item record

Page view(s)

2
Last Week
0
Last month
0
checked on Mar 4, 2024

Google ScholarTM

Check

Altmetric