We combined an AdaBoost based object classifier with the visual attention system VOCUS. This speeds up object recognition and reduces the number of false detections. In [Frintrop et al. IROS 2004] we applied this approach to data from a 3D laser scanner to recognize objects as chairs and robots. In [Mitri et al. ICRA 2005] we found different kinds of balls for robot soccer (RoboCup). While the classifier detects balls based on shape, the top-down attention could be easily trained from few training images to differently colored types of balls. This makes the system flexible.
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