1A1-M07 Scanpath理論に基づく移動ロボット手先動作時の関心領域特性

概要

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Visual functions have an important role for a robot who observes partner robots and engages an assemble task with the other robots cooperatively. In order to develop an effective visual function for robots, we consider a function of visual attention for a robort. The robot can quickly process regions that are important to recognize its partner's actions by an attention mechanism. This is a gazing function which has very similar mechanism for obtaining visual information by eyemovement in the human visual system. From this consideration we investigated properties of the human visual scanpath in a scene of robot hand movement. The hROIs(Human Regions-Of-Interest) are measured by psychophysical experiments then compared using the positional similarity index, Sp, based on the scanpath theory. The result suggests that the scanpath is more consistent due to dominant top-down active looking by an internal cognitive model in such a scene.
一般社団法人日本機械学会の論文
2009-05-25