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           Department of Computer Science, University of Toronto
            (LP = D. L. Pratt Building, 6 King's College Road)

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                                 VISION/AI
               LP266, at 10:30 a.m., Tuesday 20 October 1992

                              Peter A. Sandon
                             Dartmouth College

            "Attention, Active Vision and Manipulator Control"

One function of visual attention is as a filter that selects a portion of
the visual field for enhanced detection and recognition processing.  A
second function of attention is to provide localization information, which
can be used in guiding motor activity.  A visual system in which the eyes
can be moved requires such localization information to guide eye movements.
Furthermore, the control of arm and hand movements for object manipulation
is simplified by attentional localization of the hand.  In a binocular
vision system, attentional selection can localize a target object in a 3-D
retinocentric coordinate frame.  The eye and arm motor systems can be
expressed in terms of this same retinocentric coordinate frame to simplify
the computations needed for controlling movement.  A number of simple
visuomotor behaviors have been developed and implemented, based on the
combination of active, attentional vision and the retinocentric,
differential kinematics of the motor systems.