Selective attention-based novelty scene detection in dynamic environments

We propose a biologically motivated novelty detection model of a scene that can give a robust performance for natural color scenes with an affine transformed field of view, as well as noisy scenes in a dynamic visual environment. Novelty detection is an essential property for developmental robots. A topology of a visual scan path of an input scene and an energy signature for the corresponding visual scan path are obtained and considered when deciding on a novelty occurrence in an input scene. The visual scan path is generated by a low-level top-down attention model in conjunction with a bottom-up saliency map model.