System and method for image mapping and visual attention
First Claim
1. An adaptive autonomous robot comprising:
- sensors;
actuators;
a camera for receiving image data from an external source;
a database for associating received image data with points on a portion of a spherical region centered on the robot;
means for performing attentional processing on individual images to identify attentional locations;
means for mapping each attentional location to a nearest point on the portion of the spherical region; and
a summer for summing all the attentional locations mapped to a point.
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Abstract
A method is described for mapping dense sensory data to a Sensory Ego Sphere (SES). Methods are also described for finding and ranking areas of interest in the images that form a complete visual scene on an SES. Further, attentional processing of image data is best done by performing attentional processing on individual full-size images from the image sequence, mapping each attentional location to the nearest node, and then summing all attentional locations at each node. More information is available through this method since attentional processing is repeatedly done on each image in the sequence. An attentional point that has persisted in several adjacent images will have a higher activation value and, therefore, will be deemed more salient than an attentional point found in only one image. Therefore, the confidence that a location deemed salient by this method is an actual salient feature is greater than with the alternative processing methods in which attentional processing is performed only once on the image reconstructed from the foveal windows posted on the SES.
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Citations
6 Claims
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1. An adaptive autonomous robot comprising:
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sensors; actuators; a camera for receiving image data from an external source; a database for associating received image data with points on a portion of a spherical region centered on the robot; means for performing attentional processing on individual images to identify attentional locations; means for mapping each attentional location to a nearest point on the portion of the spherical region; and a summer for summing all the attentional locations mapped to a point. - View Dependent Claims (2, 3)
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4. In an adaptive autonomous robot comprising:
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sensors; actuators; a camera for receiving image data from an external source; a database for associating received image data with points on a portion of a spherical region centered on the robot; a method of finding and ranking areas of interest in images from the external source comprising; performing attentional processing on individual images to identify attentional locations; mapping each attentional location to a nearest point on the portion of the spherical region; and summing all the attentional locations mapped to a point.
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5. A method of mapping dense sensory data to a database of a robot comprising:
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compiling a list of nodes in a portion of a spherical region centered on the robot; generating an image of a region external to the robot at each node; extracting a foveal image from a center of each image; and associating each foveal image with said node in the database. - View Dependent Claims (6)
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Specification