Multimodal saliency-based bottom-up attention a framework for the humanoid robot iCub

被引：64
|
作者：
Ruesch, Jonas [1 ]
Lopes, Manuel [2 ]
Bernardino, Alexandre [2 ]
Hoernstein, Jonas [2 ]
Santos-Victor, Jose [2 ]
Pfeifer, Rolf [1 ]
机构：
[1] Univ Zurich, Dept Informat, Artificial Intelligence Lab, CH-8006 Zurich, Switzerland
[2] Inst Super Tecn, Inst Syst & Robot, Lisbon, Portugal
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年
关键词：
D O I：
10.1109/ROBOT.2008.4543329
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work presents a multimodal bottom-up attention system for the humanoid robot iCub where the robot's decisions to move eyes and neck are based on visual and acoustic saliency maps. We introduce a modular and distributed software architecture which is capable of fusing visual and acoustic saliency maps into one egocentric frame of reference. This system endows the With with an emergent exploratory behavior reacting to combined visual and auditory saliency. The developed software modules provide a flexible foundation for the open iCub platform and for further experiments and developments, including higher levels of attention and representation of the peripersonal space.
引用
收藏
页码：962 / +
页数：2
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