Aspects of visual attention for autonomous mobile robots [Elektronische Ressource] / Tingting Xu

Lehrstuhl fu¨r Steuerungs- und RegelungstechnikTechnische Universit¨at Mu¨nchenUniv.-Prof. Dr.-Ing./Univ. Tokio Martin BussAspects of Visual Attention for AutonomousMobile RobotsTingting XuVollst¨andiger Abdruck der von der Fakult¨at fu¨r Elektrotechnik und Informationstechnikder Technischen Universit¨at Mu¨nchen zur Erlangung des akademischen Grades einesDoktor-Ingenieurs (Dr.-Ing.)genehmigten Dissertation.Vorsitzender: Univ.-Prof. Paulo Lugli, Ph.D.Pru¨fer der Dissertation:1. TUM Junior Fellow Dr.-Ing. Kolja Ku¨hnlenz2. Univ.-Prof. Gordon Cheng, Ph.D.Die Dissertation wurde am 16.12.2009 bei der Technischen Universit¨at Mu¨nchen einge-reicht und durch die Fakult¨at fu¨r Elektrotechnik und Informationstechnik am 13.04.2010angenommen.ForewordThis thesis summarizes my three-year research work carried out at the Institute of Au-tomatic Control Engineering (LSR) of the Technische Universit¨at Mu¨nchen from 2006 to2009.First of all, I would like to express my profound gratitude towards my doctoral ad-visor, my “Doktorvater”, Dr.-Ing. Kolja Ku¨hnlenz, who always supported me with hisimmense experience and invaluable advice, took the time for all my questions, and mademe believe in myself. I sincerely thank my “Doktorgroßvater” Prof. Dr.-Ing./Univ. TokioMartin Buss, who gave me the opportunity to conduct research in an inspiring workingenvironment, for his encouragement and trust.I would like to thank Prof. Gordon Cheng, Prof. Werner Schneider, Prof.