An Experiment in Distributed Visual Attention

P. Bachiller, P. Bustos, J. M. Cañas, R. Royo


Attention mechanisms of biological vision have been applied to machine vision for several applications, like visual search and object detection. Most of the proposed models are centred on a unique way of attention, mainly stimulus-driven or bottom-up attention. We propose a visual attention system that integrates several attentional behaviours. To get a real-time implementation, we have designed a distributed software architecture that exhibits an efficient and flexible structure. We describe some implementation details and real experiments performed in a mobile robot endowed with a stereo vision head.


  1. Internet Communication Engine.
  2. L. Itti and C. Koch. A saliency-based search mechanism for overt and covert shifts of visual attention. Vision Research, 40(10-12):1489-1506, May 2000.
  3. W. James, The principles of psychology, New York: Holt, 1890, pp. 403-404
  4. D. G. Lowe. Object recognition from local scale-invariant features. In ICCV, pages 1150- 1157, 1999.
  5. D. G. Lowe, Distinctive image features from scale-invariant keypoints, International Journal of Computer Vision, vol. 60, no. 2, pp. 91-110, 2004.
  6. K. Mikolajczyk and C. Schmid. Indexing based on scale invariant interest points. In ICCV01, pages 525-531, Vancouver, Canada, July 2001.
  7. A.D. Milner and M.A. Goodale. The visual brain in action. Oxford UniversityPress. Oxford 1995
  8. V. Navalpakkam, L. Itti, An Integrated Model of Top-down and Bottom-up Attention for Optimal Object Detection, In: Proc. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 1-7, Jun 2006
  9. R. P. Rao, G. Zelinsky, M. Hayhoe, and D. H. Ballard. Eye movements in iconic visual search. Vision Research, 42(11):1447-1463, Nov 2002.
  10. A. Treisman and R. Paterson, Emergent features, attention and object perception, J. Exp. Psychol: Human Perception and Performance, 1984, 10:12-31.
  11. A. Torralba et al. Contextual guidance of attention in natural scenes: The role of global features on object search. Psycological Review, October 2006
  12. J.K. Tsotsos,, Modeling visual attention via selective tuning, Arti. Intell., 1995, 78:507-545.

Paper Citation

in Harvard Style

Bachiller P., Bustos P., M. Cañas J. and Royo R. (2007). An Experiment in Distributed Visual Attention . In Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007) ISBN 978-972-8865-86-6, pages 106-112. DOI: 10.5220/0001634301060112

in Bibtex Style

author={P. Bachiller and P. Bustos and J. M. Cañas and R. Royo},
title={An Experiment in Distributed Visual Attention},
booktitle={Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)},

in EndNote Style

JO - Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)
TI - An Experiment in Distributed Visual Attention
SN - 978-972-8865-86-6
AU - Bachiller P.
AU - Bustos P.
AU - M. Cañas J.
AU - Royo R.
PY - 2007
SP - 106
EP - 112
DO - 10.5220/0001634301060112