Abstract
Since the vision sensors bring a huge amount of data, visual attention is one of the most important issues for a mobile robot to accomplish a given task in complicated environments. This paper proposes a method of sensor space segmentation for visual attention control that enables efficient observation by taking the time for observation into account. The efficiency is considered from a viewpoint of not geometrical reconstruction but unique action selection based on information criterion regardless of localization uncertainty. The method is applied to four legged robot that tries to shoot a ball into the goal. To build a decision tree, a training data set is given by the designer, and a kind of off-line learning is performed on the given data set. The visual attention control in the method and the future work are discussed.
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© 2002 Springer-Verlag Berlin Heidelberg
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Mitsunaga, N., Asada, M. (2002). Visual Attention Control by Sensor Space Segmentation for a Small Quadruped Robot Based on Information Criterion. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_16
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DOI: https://doi.org/10.1007/3-540-45603-1_16
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