NDLI: Artificial potential functions based camera movements and visual behaviors in attentive robots

Content Provider	Springer Nature Link
Author	Erkent, Ö. Işıl Bozma, H.
Copyright Year	2011
Abstract	An attentive robot needs to exhibit a plethora of different visual behaviors including free viewing, detecting visual onsets, search, remaining fixated and tracking depending on the vision task at hand. The robot’s associated camera movements—ranging from saccades to smooth pursuit—direct its optical axis in a manner that is dependent on the current visual behavior. This paper proposes a closed-loop dynamical systems approach to the generation of camera movements based on a family of artificial potential functions. Each movement from the current fixation point to the next is associated with an artificial potential function that encodes saliency and possibly inhibition depending on the visual behavior that the robot is engaged in. The novelty of this approach is that since the nature of resulting motion can vary from being saccadic to smooth pursuit, the full repertoire of visual behaviors all become possible within the same framework. The robot can switch its visual behavior simply by changing the parameters of the constructed artificial potential functions appropriately. Furthermore, automated reflexive changes among the different visual behaviors can be achieved via a simple switching automaton. Experimental results with APES robot serve to show the performance properties of a robot engaged in each different visual behavior.
Starting Page	15
Ending Page	34
Page Count	20
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	32
Issue Number	1
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2011-08-11
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Fixation generation Saccades Smooth pursuit Attentive systems Artificial potential functions Visual servoing Real-time applications Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Control, Robotics, Mechatronics Robotics and Automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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