By J. Torreao
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This double modulation (from the behavioral system to the attention system and from the attention system to the behavioral one) endows the robot with both deliberative and reactive abilities since it can drive the perceptual process according to the needs or intentions of the robot, but its actions are conditioned by the outside world. This makes the robot interact in an effective way with a real and non-structured environment. 1 Attentional requirements The function of attention in our system is strongly linked to the selection for action mechanisms (Allport, 1987), since it is used to select the most suitable stimulus for action execution.
If several selectors share the oldest time stamp, the one with the highest frequency acquires motor control. Frequencies of individual selectors can be interpreted as alerting levels that allow keeping a higher or lower attention degree on the corresponding target. This way, the described strategy gives priority to those selectors with the highest alerting level that require faster control responses. Fig. 9. General structure of the proposed distributed system of visual attention 32 16 Advances inWill-be-set-by-IN-TECH Stereo Vision Once the overt focus of attention is selected, it is sent to the high-level behavioral components.
Figure 17 shows the modeling results during the exploration of each room. After creating the ﬁnal model of every room, the deviation of the new model is corrected according to the door connecting the room to an existing model. Finally, it is obtained an environment representation that corresponds to a great extent with the real scene. The error in the dimensions of the ﬁrst room (see ﬁgure 17(e)) is due to the discretization of the Hough space. This kind of errors are considered in the representation of the model as part of its uncertainty.
Advances in Stereo Vision by J. Torreao
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