Calculation of Attention Points Using 3D Cues
Ekaterina Potapova, Michael Zillich, Markus Vincze · 2012
Attention points are an effective means to tackle scene complexity, for example for grasping objects in a table scene. One way to obtain attention points is from a saliency map. Inspired by findings from preattentive human vision we investigated 3D cues to build a new type of saliency map. We implemented two 3D cues - one based on surface height and the other based on relative surface orientation. To evaluate the approach we built up an RGB-D (colour and depth) image database with table scenes of different complexity. We compared results of our algorithm to the classical 2D Itti-Koch-Niebur saliency map. In all types of scenes 3D cues showed better results than using 2D cues only.