Patent Document ID: 7848565
Application ID: 11472049
Patent Status: 1

Claim One:
1. A method for gaze selection of a vision sensor in a robot device, such that a priority is allocated to problems being present within a predefined space in a depth interval, comprising the steps of: gathering depth information with regard to a distance from the vision sensor to one or more sensed objects; and generating a visual saliency map based on a vision signal received from the vision sensor; generating a disparity saliency selection map based on said vision signal, said disparity saliency selection map identifying a closest object of said sensed objects within a depth interval, wherein if there is no stimulus within the predefined space, the activation of the disparity saliency selection map is all zero; generating a motion saliency map based on said vision signal; generating a combined saliency map by combining said visual saliency map based upon a first weight, said motion saliency map based upon a second weight and said disparity saliency map based upon a third weight, wherein said third weight is greater than the first weight and said third weight is greater than said second weight, and the combined saliency map indicates to the robot device patterns in the input space of the vision sensor which are candidates for carrying out a task of gaze selection; and performing the gaze selection based upon said combined saliency map.