By J. Torreao
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Additional resources for Advances in Stereo Vision
At every execution cycle, the attention system selects a single visual target and sends it to the behavioral system, which executes the most appropriate action according to the received visual information. Thus, the attention system also modulates the behavioral one. This double modulation (from the behavioral system to the attention system and from the attention system to the behavioral one) endows the robot with both deliberative and reactive abilities since it can drive the perceptual process according to the needs or intentions of the robot, but its actions are conditioned by the outside world.
These situations occur when the robot detects a new door which is connected to a previously visited room. In such cases, new 27 Attentional Behaviors for Environment Modeling by a Mobile Robot Attentional Behaviors for Environment Modeling by a Mobile Robot 11 corrections must be done to minimize the error in the position of the detected common door (see ﬁgure 6). However, this error is caused by an imperfect estimation of the parameters of rooms and doors and, therefore, a unique correction will surely not solve the problem.
Deviations between room models caused by odometric errors are easily detected and corrected using the geometric restrictions provided by the door connecting them. In addition, we have proposed methods for robot pose estimation as well as for global metric adjustment in loop closings. The set of perceptual and high-level behaviors needed to solve the active modeling problem are organized according to our attention-based control architecture. In this architecture, attention is conceived as an intermediary between visual perception and action control, solving two fundamental behavioral questions for the robot: where to look and what to do.
Advances in Stereo Vision by J. Torreao