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Robot vision systems -inspired by human-like vision -are required to employ mechanisms similar to those that have proven to be crucial in human visual performance. One of these mechanisms is attentive perception. Findings from vision science research suggest that attentive perception requires a multitude of properties: A retina with fovea-periphery distinction, an attention mechanism that can be manipulated both mechanically and internally, an extensive set of visual primitives that enabledoi:10.1007/s10514-006-5538-0 fatcat:ekgd5rpw4jch7djmcy5vdkp5ia