Due to stringing time constraints, saliency models are becoming popular tools for building situated robotic systems requiring, for instance, object recognition and vision-based localisation capabilities. This paper contributes to this endeavour by applying saliency into two new tasks: modulation of stereo-based obstacle detection and ground-plane estimation, both to operate on-board off-road vehicles. To achieve this, a new biologically inspired saliency model, along with a set of adaptations to the task-specific algorithms, are proposed. Experimental results show a reduction in computational cost and an increase in both robustness and accuracy when saliency modulation is used.
|Title of host publication||Lecture Notes in Computer Science|
|Publication status||Published - 1 Jan 2009|
|Event||7th International Conference on Computer Vision Systems - |
Duration: 1 Jan 2009 → …
|Conference||7th International Conference on Computer Vision Systems|
|Period||1/01/09 → …|