Similarity motion estimation and active tracking through spatial-domain projections on log-polar images

摘要

To cope with the huge amount of visual data in the environment, foveal sensing is not only an elegant biological solution, but also an appropriate mechanism in computer-based vision of artificial agents such as robots. An extremely important visual behavior in active vision systems is that of actively tracking moving targets, which is a problem closely related with foveal vision. The work described in this article has precisely to do with active tracking with space-variant images. The two main components of the proposed algorithm are the log-polar image format, and a projection-based motion estimator, whose joint use results in an efficient and effective active tracking scheme. For the successful real-time performance of the proposed approach, it is very important to have an appropriate combination of: (i) an efficient motion estimation technique, (ii) an adequate image representation, and (iii) the dynamic nature of purposive vision.