Visual attention is one of the most important issues for a vision guided mobile robot not simply because visual information brings a huge amount of data but also because the visual field is limited, therefore gaze control is necessary. The paper proposes a method of sensor space segmentation for visual attention control that enables mobile robots to realize efficient observation. The efficiency is considered from a viewpoint of not geometrical reconstruction but unique action selection based on information criterion regardless of localization uncertainty. The method builds a decision tree based on the information criterion while taking the time needed for observation into account, and attention control is done by following the tree. The tree is rebuilt by introducing contextual information for more efficient attention control. The method is applied to a four legged robot that tries to shoot a ball into the goal. Discussion on the visual attention control in the method is given and the future issues are shown.
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