Attentional Robot Localization and Mapping

Abstract

In this paper, we introduce an application of visual attention in the field of robotics: attentional visual SLAM (Simultaneous Localization and Mapping). A biologically motivated attention system finds regions of interest which serve as visual landmarks for the robot. The regions are tracked and matched over consecutive frames to build stable landmarks and to estimate the 3D position of the landmarks in the environment. Furthermore, matching of current landmarks to database entries enables loop closing and global localization. Additionally, the system is equipped with an active camera control, which supports the system with a tracking, a re-detection, and an exploration behaviour.