CONFERENCE PROCEEDINGS
Advanced Search >
Home > Proceedings > Volume 2488 > Article
Translator Disclaimer
16 June 1995 Space-variant vision for an active camera mount
Francesco M. Panerai; Carla Capurro; Giulio Sandini
Author Affiliations +
Proceedings Volume 2488, Visual Information Processing IV; (1995) https://doi.org/10.1117/12.211981
Event: SPIE's 1995 Symposium on OE/Aerospace Sensing and Dual Use Photonics, 1995, Orlando, FL, United States
Abstract
Robot systems that rely on vision as their main sensory capability need to be able to cope with changes in the visual environment and to manage a wide field of view. Moreover, in order not to loose real-time response capabilities, selective visual sensing is indeed highly desireable. The 'built-in' selection in space and time provided by space variant sensors acts as a filter on the visual field having considerable implications for robotic applications. This paper focuses the attention on log-polar vision in the context of active control of visual sensors. The geometric distribution of sensing elements in the log-polar mapping provides visual task simplification and computational advantages. Correlation measurement techniques in the log- polar framework are formalized and two different uses are proposed. By performing global measurements on convergent log-polar images, a binocular mount can drive its cameras towards correct vergence configuration. It is also shown how image shifts can be detected by using 1D correlation measurements in the log-polar domain, and a possible use of this technique aimed at stabilizing gaze or tracking moving objects is presented. Both the reduced algorithm complexity, due to space variant topology, and the computational advantages, due to the limited number of pixels, make log-polar mapping a good candidate image geometry to obtain real-time responses in the context of reactive vision systems.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
Francesco M. Panerai, Carla Capurro, and Giulio Sandini "Space-variant vision for an active camera mount", Proc. SPIE 2488, Visual Information Processing IV, (16 June 1995); https://doi.org/10.1117/12.211981
PROCEEDINGS
 13 PAGES
DOWNLOAD PDF SAVE TO MY LIBRARY
SHARE
GET CITATION
< Previous Article
|
Next Article >
Advertisement
Advertisement
KEYWORDS
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top