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In the project Autonomous City Explorer, an interactive robot is designed to find its way to a given destination in unknown urban environments by interacting with pedestrians. Considering applications in a human dominated environment, the robot can be sent to a destination by tracking a landmark selected by users and described by 2D image features. To achieve a natural landmark selection from the...
Inspired by the expectation-based perception of humans, a surprise-driven active vision system is proposed. This vision system not only considers spatial saliency of objects in the environment, but also investigates temporal novelty in the neighborhood. Surprise is defined as the difference of the saliency probability distributions of two consecutive input images, which is measured using Kullback-Leibler...
A multi-camera view direction planning strategy for mobile robots is discussed. Two concurrent tasks are considered: self-localization and object tracking. The approach is to assign the different tasks to different cameras, such that for each task an individual optimal view direction is selected based on the information gain maximization. Thereby, the individual task performance is significantly improved...
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