Advances in Stereo Vision by J. Torreao

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.

Hart, P. (1972). Use of the hough transformation to detect lines and curves in pictures, Commun. ACM 15: 11–15. Enright, J. (1998). , Journal of Physiology 512: 235–250. Frintrop, S. (2006). VOCUS: A Visual Attention System for Object Detection and Goal-Directed Search, Vol. 3899 of Lecture Notes in Computer Science, Springer. Itti, L. & Koch, C. (2000). A saliency-based search mechanism for overt and covert shifts of visual attention, Vision Research 40: 1489–1506. Jung, C. & Schramm, R. (2004).

2009; Guijarro et al. 2008, 2009). The correspondence problem can be defined in terms of finding pairs of true matches, as explained below, pixels in two images that are generated by the same physical element in the space. These true matches generally satisfy some constraints (Scharstein & Szeliski, 2002): 1) epipolar, given a pixel in an image, the matched pixel in the second image must lie following the called epipolar line; 2) similarity, matched pixels must have similar properties or attributes; 3) ordering, the relative position between two pixels in an image is preserved in the other image for the corresponding matches; 4) uniqueness, each pixel in one image should be matched to a unique pixel in the other image, although a pixel could not be matched because of occlusions.

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