Information-based gaze control adaptation to scene context for mobile robots

Goal-directed guidance of gaze control based on coordinated task and stimulus parameters is essential for steering a mobile cognitive system efficiently and autonomously through the real world. This paper focuses on coordination mechanisms of top-down and bottom-up attentional allocation, with particular consideration of the current local environment. The top-down attention selection in the task-space and the bottom-up attention selection in the image-space is evaluated and combined using information theory. An information-based scene context classification considering scene dynamics is proposed to bias attention selection, which is the main contribution of this paper. Experiments are conducted to evaluate the performance.