Artificial potential functions based camera movements and visual behaviors in attentive robots |
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Authors: | ? Erkent H I??l Bozma |
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Affiliation: | 1. Intelligent Systems Laboratory, Electric Electronic Engineering Department, Bogazi?i University, Istanbul, Turkey
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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. |
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Keywords: | |
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