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16 June 1995 Binocular stereo via log-polar retinas
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Log-polar pixel tessellation in the image plane improves binocular stereo perception compared to the familiar uniform Cartesian tessellation. This paper describes the advantages by analyzing the 3D intersections of projections of dual retinas. The 3D environment is divided into volume cells (voxels) which are the intersections of pixel projection cones. There are some interesting and useful differences between log-polar and Cartesian induced voxel distribution. Maximum stereo resolution for Cartesian voxels is inconveniently located at the outskirts of the field of view at the near point of intersection of the two fields of view, rapidly degrading therefrom. Log-polar stereo resolution is highest at the point of intersection of the optical axes. Active vision can steer this focus of attention like a spotlight to any point of interest in the 3D environment. Within this focus of attention, stereo resolution is nearly uniform. Applications include active robot vision with close parallels to the human visual system and eye movements.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Carl F. R. Weiman "Binocular stereo via log-polar retinas", Proc. SPIE 2488, Visual Information Processing IV, (16 June 1995);


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