{"id":"https://openalex.org/W2283056695","doi":"https://doi.org/10.1109/icra.2016.7487276","title":"Optimizing gaze direction in a visual navigation task","display_name":"Optimizing gaze direction in a visual navigation task","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2283056695","doi":"https://doi.org/10.1109/icra.2016.7487276","mag":"2283056695"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1602.04981","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085758817","display_name":"Tuomas V\u00e4lim\u00e4ki","orcid":"https://orcid.org/0000-0002-6361-5892"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Tuomas Valimaki","raw_affiliation_strings":["Department of Automation Science and Engineering, Tampere University of Technology, Tampere, Finland","Department of Automation Science and Engineering, Tampere University of Technology, P.O. Box 692, FI-33101, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation Science and Engineering, Tampere University of Technology, Tampere, Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Department of Automation Science and Engineering, Tampere University of Technology, P.O. Box 692, FI-33101, Finland","institution_ids":["https://openalex.org/I4210133110"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016248040","display_name":"Risto Ritala","orcid":"https://orcid.org/0000-0003-0721-9948"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Risto Ritala","raw_affiliation_strings":["Department of Automation Science and Engineering, Tampere University of Technology, Tampere, Finland","Department of Automation Science and Engineering, Tampere University of Technology, P.O. Box 692, FI-33101, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation Science and Engineering, Tampere University of Technology, Tampere, Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Department of Automation Science and Engineering, Tampere University of Technology, P.O. Box 692, FI-33101, Finland","institution_ids":["https://openalex.org/I4210133110"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210133110"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00118353,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"32","issue":null,"first_page":"1427","last_page":"1432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.7463576793670654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7294555902481079},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6904394626617432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6841296553611755},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.645180344581604},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.643723726272583},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5619459748268127},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5563499331474304},{"id":"https://openalex.org/keywords/active-vision","display_name":"Active vision","score":0.528701663017273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5237248539924622},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5048140287399292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49466797709465027},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4756165146827698},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4479762613773346},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4295583665370941},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4257190227508545},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.4234578013420105},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.4181548058986664},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.2981857657432556},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2630321979522705},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.2012569010257721},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.17315611243247986},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1361021101474762},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12351730465888977},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07448384165763855}],"concepts":[{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.7463576793670654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7294555902481079},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6904394626617432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6841296553611755},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.645180344581604},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.643723726272583},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5619459748268127},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5563499331474304},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.528701663017273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5237248539924622},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5048140287399292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49466797709465027},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4756165146827698},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4479762613773346},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4295583665370941},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4257190227508545},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.4234578013420105},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.4181548058986664},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.2981857657432556},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2630321979522705},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.2012569010257721},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.17315611243247986},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1361021101474762},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12351730465888977},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07448384165763855},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/icra.2016.7487276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"mag:2283056695","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1602.04981","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:http://dspace.cc.tut.fi:123456789/23522","is_oa":false,"landing_page_url":"http://dspace.cc.tut.fi/dpub/handle/123456789/23522","pdf_url":null,"source":{"id":"https://openalex.org/S4406922522","display_name":"Tampere University of Technology Institutional Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Diplomity\u00f6 - Master's thesis"},{"id":"pmh:oai:trepo.tuni.fi:10024/213220","is_oa":false,"landing_page_url":"https://trepo.tuni.fi/handle/10024/213220","pdf_url":null,"source":{"id":"https://openalex.org/S4306401860","display_name":"Tampere University Institutional Repository (Tampere University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I150589677","host_organization_name":"Tampere University of Applied Sciences","host_organization_lineage":["https://openalex.org/I150589677"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference"},{"id":"pmh:oai:trepo.tuni.fi:123456789/23522","is_oa":false,"landing_page_url":"https://trepo.tuni.fi//handle/123456789/23522","pdf_url":null,"source":{"id":"https://openalex.org/S4306401860","display_name":"Tampere University Institutional Repository (Tampere University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I150589677","host_organization_name":"Tampere University of Applied Sciences","host_organization_lineage":["https://openalex.org/I150589677"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"fi= Diplomity\u00f6 | en=Master\u2019s thesis (technology)|"},{"id":"doi:10.48550/arxiv.1602.04981","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1602.04981","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"mag:2283056695","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1602.04981","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1684737195","https://openalex.org/W2034725503","https://openalex.org/W2039546655","https://openalex.org/W2096630263","https://openalex.org/W2096649264","https://openalex.org/W2099495504","https://openalex.org/W2119567691","https://openalex.org/W2119940423","https://openalex.org/W2123760769","https://openalex.org/W2123838014","https://openalex.org/W2144913588","https://openalex.org/W2166251056","https://openalex.org/W2168359464","https://openalex.org/W2334782222","https://openalex.org/W2341171179","https://openalex.org/W2963411167","https://openalex.org/W6646481452"],"related_works":["https://openalex.org/W2964280780","https://openalex.org/W2140130805","https://openalex.org/W2098535050","https://openalex.org/W2171823016","https://openalex.org/W2002060011","https://openalex.org/W1991230091","https://openalex.org/W2350420203","https://openalex.org/W141044488","https://openalex.org/W2004650889","https://openalex.org/W2940630904","https://openalex.org/W2807097225","https://openalex.org/W2082726624","https://openalex.org/W1965580223","https://openalex.org/W2075567787","https://openalex.org/W2080984287","https://openalex.org/W2753811279","https://openalex.org/W1598329214","https://openalex.org/W2537577820","https://openalex.org/W2107914567","https://openalex.org/W2335619297"],"abstract_inverted_index":{"Navigation":[0],"in":[1,108],"an":[2],"unknown":[3],"environment":[4],"consists":[5],"of":[6,26,49,65,69,97,115],"multiple":[7],"separable":[8],"subtasks,":[9],"such":[10],"as":[11,78],"collecting":[12],"information":[13,89],"about":[14],"the":[15,20,24,36,47,61,67,98,102,117],"surroundings":[16],"and":[17,40,126],"navigating":[18],"to":[19,34,44],"current":[21],"goal.":[22],"In":[23],"case":[25,56],"pure":[27],"visual":[28],"navigation,":[29],"all":[30],"these":[31],"subtasks":[32],"need":[33],"utilize":[35],"same":[37],"vision":[38,76],"system,":[39],"therefore":[41],"a":[42,55,70,79,87,129],"way":[43],"optimally":[45],"control":[46],"direction":[48],"focus":[50],"is":[51,100],"needed.":[52],"We":[53],"present":[54],"study,":[57],"where":[58],"we":[59],"model":[60],"active":[62,119],"sensing":[63,120],"problem":[64],"directing":[66],"gaze":[68],"mobile":[71],"robot":[72],"with":[73,124],"three":[74],"machine":[75],"cameras":[77,103],"partially":[80],"observable":[81],"Markov":[82],"decision":[83],"process":[84],"(POMDP)":[85],"using":[86,116],"mutual":[88],"(MI)":[90],"based":[91],"reward":[92],"function.":[93],"The":[94,113],"key":[95],"aspect":[96],"solution":[99],"that":[101],"are":[104,122],"dynamically":[105],"used":[106],"either":[107],"monocular":[109],"or":[110],"stereo":[111],"configuration.":[112],"benefits":[114],"proposed":[118],"implementation":[121],"demonstrated":[123],"simulations":[125],"experiments":[127],"on":[128],"real":[130],"robot.":[131]},"counts_by_year":[],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
