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Wide-Angle Foveation for All-Purpose Use

Shimizu, Sota (2008) Wide-Angle Foveation for All-Purpose Use. IEEE/ASME Transactions on Mechatronics, 13 (5). pp. 587-597. ISSN 1083-4435. https://resolver.caltech.edu/CaltechAUTHORS:SHIieeetm08

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Abstract

This paper proposes a model of a wide-angle space-variant image that provides a guide for designing a fovea sensor. First, an advanced wide-angle foveated (AdWAF) model is formulated, taking all-purpose use into account. This proposed model uses both Cartesian (linear) coordinates and logarithmic coordinates in both planar projection and spherical projection. Thus, this model divides its wide-angle field of view into four areas, such that it can represent an image by various types of lenses, flexibly. The first simulation compares with other lens models, in terms of image height and resolution. The result shows that the AdWAF model can reduce image data by 13.5%, compared to a log-polar lens model, both having the same resolution in the central field of view. The AdWAF image is remapped from an actual input image by the prototype fovea lens, a wide-angle foveated (WAF) lens, using the proposed model. The second simulation compares with other foveation models used for the existing log-polar chip and vision system. The third simulation estimates a scale-invariant property by comparing with the existing fovea lens and the log-polar lens. The AdWAF model gives its planar logarithmic part a complete scale-invariant property, while the fovea lens has 7.6% error at most in its spherical logarithmic part. The fourth simulation computes optical flow in order to examine the unidirectional property when the fovea sensor by the AdWAF model moves, compared to the pinhole camera. The result obtained by using a concept of a virtual cylindrical screen indicates that the proposed model has advantages in terms of computation and application of the optical flow when the fovea sensor moves forward.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/TMECH.2008.2002884DOIUNSPECIFIED
http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=4639610PublisherUNSPECIFIED
Additional Information:© Copyright 2008 IEEE. Reprinted with permission. Manuscript received January 8, 2008; revised May 24, 2008. Current version published October 8, 2008. Recommended by Technical Editor I-M. Chen. This work was supported in part by the Wind and Biomass Energy R&D and Information Center and in part by the Japan Society for the Promotion of Science under a grant. The author thanks G. Sandini and F. Berton, a Professor and a Researcher in the Laboratory for Integrated Robotics (LIRA), University of Genova, Italy, for collaboration, and sincerely says best regards to H. Jiang and J.W. Burdick, a Ph.D. student and a Professor at the California Institute of Technology.
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Funding AgencyGrant Number
Wind and Biomass Energy R&D and Information CenterUNSPECIFIED
Japan Society for the Promotion of ScienceUNSPECIFIED
Subject Keywords:Active sensing, all-purpose use, biomimetics, fovea sensor, image processing, wide-angle foveation (WAF)
Issue or Number:5
Record Number:CaltechAUTHORS:SHIieeetm08
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:SHIieeetm08
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:12461
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:02 Dec 2008 22:21
Last Modified:03 Oct 2019 00:28

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