Visual attention control for nuclear power plant inspection

摘要

Industrial inspection robots, which are to move around in anuclear power plant and carry out inspection tasks, must follow a givenroute while observing static and dynamic features of the environment. Astereo active vision system has been developed, equipped with foveatedwide-field image acquisition and mounted on a mobile robot. With this orother types of active sensors, only the foveated center of the field ofview can extract precise information, so the camera pose must becontrolled to fixate the target area for execution of a particularvisual task. The activities of inspection robots lead to multiple visualtasks, requiring both reactive and premeditated types of attention, andtherefore the robot must apply its sensing resources sequentially amongmultiple possibilities. In this paper, we propose a new framework forvisual attention control for a mobile robot, describe the implementationof the proposed framework, and show some examples in which the camerapose is controlled to achieve multiple visual tasks