Expectation-based selective attention for visual monitoring and control of a robot vehicle

  title={Expectation-based selective attention for visual monitoring and control of a robot vehicle},
  author={Shumeet Baluja and Dean Pomerleau},
  journal={Robotics and Autonomous Systems},
Reliable vision-based control of an autonomous vehicle requires the ability to focus attention on the important features in an input scene. Previous work with an autonomous lane following system, ALVINN [Pomerleau, 1993], has yielded good results in uncluttered conditions. This paper presents an artificial neural network based learning approach for handling difficult scenes which will confuse the ALVINN system. This work presents a mechanism for achieving task-specific focus of attention by… CONTINUE READING
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