NDLI: Visual attention servo control for task-specific robotic applications

Content Provider	Springer Nature Link
Author	Liu, Dong Cong, Ming Du, Yu Zhang, Yunfei Silva, Clarence W.
Copyright Year	2013
Abstract	This paper proposes a visual attention servo control (VASC) method which uses the Gaussian mixture model (GMM) for task-specific applications of mobile robots. In particular, low dimensional bias feature template is obtained using GMM to get an efficient attention process. An image-based visual servo (IBVS) controller is used to search for a desired object in a scene through an attention system which forms a task-specific state representation of the environment. First, task definition and object representation in semantic memory (SM) are proposed, and bias feature template is obtained using GMM deduction for features from high dimension to low dimension. Second, the features intensity, color, size and orientation are extracted to build the feature set. Mean shift method is used to segment the visual scene into discrete proto-objects. Given a task-specific object, top-down bias attention is evaluated to generate the saliency map by combining with the bottom-up saliency-based attention. Third, a visual attention servo controller is developed to integrate the IBVS controller and the attention system for robotic cognitive control. A rule-based arbitrator is proposed to switch between the episodic memory (EM)-based controller and the IBVS controller depending on whether the robot obtains the desired attention point on the image. Finally, the proposed method is evaluated on task-specific object detection under different conditions and visual attention servo tasks. The obtained results validate the applicability and usefulness of the developed method for robotics.
Starting Page	1241
Ending Page	1252
Page Count	12
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	11
Issue Number	6
e-ISSN	20054092
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2013-11-29
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Attention selection GMM mobile robots task-specific attention visual servo control Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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