<XML><RECORDS><RECORD><REFERENCE_TYPE>0</REFERENCE_TYPE><REFNUM>9208</REFNUM><AUTHORS><AUTHOR>Aragon-Camarasa,G.</AUTHOR><AUTHOR>Fattah,H.</AUTHOR><AUTHOR>Siebert,J.P.</AUTHOR></AUTHORS><YEAR>2009</YEAR><TITLE>Towards a Unified Visual Framework in a Binocular Active Robot Vision System</TITLE><PLACE_PUBLISHED>Journal of Robotics and Autonomous Systems, Special Issue: TAROS 2008</PLACE_PUBLISHED><PUBLISHER>Elsevier Science</PUBLISHER><LABEL>Aragon-Camarasa:2009:9208</LABEL><ABSTRACT>This paper presents the results of an investigation and pilot study into an active binocular vision system that combines binocular vergence, object recognition and attention control in a unified framework. The prototype developed is capable of identifying, targeting, verging on and recognising objects in a cluttered scene without the need for calibration or other knowledge of the camera geometry. This is achieved by implementing all image analysis in a symbolic space without creating explicit pixel-space maps. The system structure is based on the ‘searchlight metaphor’ of biological systems. We present results of an investigation that yield a maximum vergence error of ~6.5 pixels, while ~85% of known objects were recognised in 5 different cluttered scenes. Finally a “stepping stone” visual search strategy was demonstrated, taking a total of 40 saccades to find two known objects in the workspace, neither of which appeared simultaneously within the field of view resulting from any individual saccade.</ABSTRACT><NOTES>accepted for publication</NOTES><URL>http://www.sciencedirect.com/science/journal/09218890</URL></RECORD></RECORDS></XML>