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Its composing models build upon a common spatial configuration that is naturally fitting for the integration of readings from multiple sensors using a Bayesian approach devised in previous work. The framework presented in this article is shown to adequately model human-like active perception behaviours, namely by exhibiting the following desirable properties: high-level behaviour results from low-level interaction of simpler building blocks; seamless integration of additional inputs is allowed by the Bayesian Programming formalism; initial \u2018genetic imprint\u2019 of distribution parameters may be changed \u2018on the fly\u2019 through parameter manipulation, thus allowing for the implementation of goal-dependent behaviours (i.e. top-down influences).<\/jats:p>","DOI":"10.1177\/1059712311434662","type":"journal-article","created":{"date-parts":[[2012,3,3]],"date-time":"2012-03-03T15:09:11Z","timestamp":1330787351000},"page":"172-190","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":22,"title":["A hierarchical Bayesian framework for multimodal active perception"],"prefix":"10.1177","volume":"20","author":[{"given":"Jo\u00e3o Filipe","family":"Ferreira","sequence":"first","affiliation":[{"name":"Institute of Systems and Robotics, FCT-University of Coimbra, Coimbra, Portugal"}]},{"given":"Miguel","family":"Castelo-Branco","sequence":"additional","affiliation":[{"name":"Biomedical Institute of Research on Light and Image, Faculty of Medicine, University of Coimbra, Coimbra, Portugal"}]},{"given":"Jorge","family":"Dias","sequence":"additional","affiliation":[{"name":"Institute of Systems and Robotics, FCT-University of Coimbra, Coimbra, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2012,3]]},"reference":[{"key":"e_1_3_5_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00133571"},{"key":"e_1_3_5_3_1","first-page":"55","volume-title":"Third IEEE Workshop on Computer Vision","author":"Bajcsy R.","year":"1985","unstructured":"Bajcsy R. 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