Fourier Signature in Log-Polar Images

A. Gasperin; C. Ardito; E. Grisan; E. Menegatti

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Paper

Fourier Signature in Log-Polar Images

In Robot Vision - Volume 0VISAPP, 87-96, 2007 , Barcelona, Spain

Authors: A. Gasperin ; C. Ardito ; E. Grisan and E. Menegatti

Affiliation: Intelligent Autonomous Systems Laboratory (IAS-Lab), Italy

Abstract: In image-based robot navigation, the robot localises itself by comparing images taken at its current position with a set of reference images stored in its memory. The problem is then reduced to find a suitable metric to compare images, and then to store and compare efficiently a set of images that grows quickly as the environment widen. The coupling of omnidirectional image with Fourier-signature has been previously proved to be a viable framework for image-based localization task, both with regard to data reduction and to image comparison. In this paper, we investigate the possibility of using a space variant camera, with the photosensitive elements organised in a log polar layout, thus resembling the organization of the primate retina. We show that an omnidirectional camera using this retinal camera, provides a further data compression and excellent image comparison capability, even with very few components in the Fourier signature.

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Paper citation in several formats:

Gasperin, A.; Ardito, C.; Grisan, E. and Menegatti, E. (2007). Fourier Signature in Log-Polar Images. In Robot Vision (VISAPP 2007) - Robot Vision; ISBN 978-972-8865-76-4, SciTePress, pages 87-96. DOI: 10.5220/0002070100870096

@conference{robot vision07,
author={A. Gasperin. and C. Ardito. and E. Grisan. and E. Menegatti.},
title={Fourier Signature in Log-Polar Images},
booktitle={Robot Vision (VISAPP 2007) - Robot Vision},
year={2007},
pages={87-96},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002070100870096},
isbn={978-972-8865-76-4},
}

TY - CONF

JO - Robot Vision (VISAPP 2007) - Robot Vision
TI - Fourier Signature in Log-Polar Images
SN - 978-972-8865-76-4
AU - Gasperin, A.
AU - Ardito, C.
AU - Grisan, E.
AU - Menegatti, E.
PY - 2007
SP - 87
EP - 96
DO - 10.5220/0002070100870096
PB - SciTePress