A Teleoperation System Utilizing Saliency-Based Visual Attention

Abstract—We present a teleoperation system which supports foveated multi-resolution, wide field of view visual feedback. In the proposed system, a saliency-based visual attention system is implemented to simulate human visual system and to help determine the candidate visual attention area automatically. We link the visual attention system and the foveated multi-resolution image compression system to realize a real-time teleoperation system which requires less communication bandwidth to classic systems. Our experiment results show that the average operation time of the proposed system is only 57.9 % comparing to a system with no visual attention clues in navigation tasks. Keywords-teleoperation system, visual attention, multi-resolution image, field of view I