NDLI: Towards log-polar fixation for mobile robots - analysis of corner tracking on the log-polar camera

Content Provider	IEEE Xplore Digital Library
Author	Yeung, A. Barnes, N.
Copyright Year	2002
Description	Author affiliation: Dept. of Comput. Sci. & Software Eng., Univ. of Melbourne, Vic., Australia (Yeung, A.; Barnes, N.)
Abstract	Fixating on objects is fundamental to active vision tasks, such as reaching, navigation and docking. Most techniques generally have been designed for space-invariant cameras. This research proposes a new method for corner tracking to facilitate point fixation for a mobile robot using a foveated camera. When the target point is in the centre of the image, the fovea and its position can be accurately tracked at high resolution. At the same time, the periphery has a reduced pixel count thus reducing the image processing computation compared to a uniform camera with the same field of view. If the target point suddenly moves into the periphery, it still appears in the lower resolution part of the image and coarser control can bring it back into fovea. Our experiment results demonstrate the stability of the proposed method and the performance of our implementation is adequate for real-time tracking applications.
Starting Page	300
Ending Page	303
File Size	343906
Page Count	4
File Format	PDF
ISBN	076951695X
ISSN	10514651
DOI	10.1109/ICPR.2002.1048299
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-08-11
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot vision systems Cameras Target tracking Image resolution Spatial resolution Biosensors Retina Pixel Computer science
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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