Attention-based navigation in mobile robots using a reconfigurable sensor
article
In this paper, a method for visual attentional selection in mobile robots is proposed, based on amplification of the selected stimulus. Attention processing is performed on the vision sensor, which is integrated on a silicon chip and consists of a contrast sensitive retina with the ability to change the local inhibitory strength between adjacent pixel elements. As a result, the sensitivity to visual contrast at a particular region of the retina can be adjusted. As the local inhibitory strength can be regulated from outside of the chip, a reconfigurable sensor is realized. This “attention-retina” was tested on an autonomous robot (MorphoII) which was given the task of selecting a line to follow while there were two alternatives. The robot develops directional preference by associating its visual stimulus with an electrical energy providing stimulus, in this case a solar cell.
TNO Identifier
95354
Source
Robotics and Autonomous Systems, 34, pp. 53-63.
Pages
53-63
Files
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