Using a visual-attention model when solving problems of autonomous navigation of mobile robots

Пименов В.Ю. Применение модели зрительного внимания при решении задач автономной навигации мобильных роботов // Оптический журнал. 2010. Т. 77. № 11. С. 35–42.

Pimenov V.Yu. Using a visual-attention model when solving problems of autonomous navigation of mobile robots [in Russian] // Opticheskii Zhurnal. 2010. V. 77. № 11. P. 35–42.

V. Yu. Pimenov, "Using a visual-attention model when solving problems of autonomous navigation of mobile robots," Journal of Optical Technology. 77(11), 684-689 (2010). https://doi.org/10.1364/JOT.77.000684

This paper proposes a model of a visual-attention system and a technique for using it when solving problems of the autonomous navigation of mobile robotic complexes. An analysis is given of known algorithms for localization and mapping of the medium in order to determine factors that affect their operating rate. A model of a visual-attention system is used in order to choose limited regions of input images for processing by localization algorithms and for constructing a map of the medium; this makes it possible to provide the necessary image-processing speed. The results of simulated experiments confirm that the proposed visual-attention model is effective.