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Additional info for Advances in Stereo Vision
Even though an effective integration of multiple targets could be achieved, another question remains: how to shift attention at the required frequency from one type of target to another one? In a centralized control system, mechanisms as inhibition of return do not solve this question, since the integration of multiple stimuli cancels the possibility of distinguishing among different kinds of targets. A potential solution to both problems could consist of dynamically modulating the visual system for attending only one kind of target at a time.
Firstly, it admits the coexistence of different types of visual targets, providing a clearer and simpler design of the selection mechanisms than a centralized approach. Secondly, each attentional selector is modulated to focus attention Attentional Behaviors for Environment Modeling by a Mobile Robot Attentional Behaviors for Environment Modeling by a Mobile Robot 31 15 on the corresponding target at a given frequency. This prevents from constantly centering attention on the same visual target and guarantees an appropriate distribution of the attention time among the different targets.
Finally, it is obtained an environment representation that corresponds to a great extent with the real scene. The error in the dimensions of the ﬁrst room (see ﬁgure 17(e)) is due to the discretization of the Hough space. This kind of errors are considered in the representation of the model as part of its uncertainty. It is important to note that this uncertainty is local to the model. Thus, as it is shown in ﬁgure 17, there is no error propagation in the creation of remaining models composing the ﬁnal representation of the environment.