The progressive target search mechanism of visual scene

Local saliency of a target describes the difference between the target and its surroundings, an effective way to improve the efficiency of searching for a target is to enhance its local saliency. To resolve the visual search and localization problem in vision-based robotics, this paper proposes a stepwise method that approaches the target in a successive way. The method has two main features: (1) a search path is established in searching for objects with high saliency based on saliency analysis; (2) In the process of target search and localization, the relationship between object locations is utilized to reduce the size of search regions step by step and, simultaneously, enhance the saliency of objects inside regions. Experimental results indicate the efficiency of the method for target search and localization under complex scenes.