Authors:
Birgit Möller
and
Stefan Posch
Affiliation:
Martin-Luther-University Halle-Wittenberg, Germany
Keyword(s):
visual memory, mosaic images, online processing, memory- and time-efficiency, polytopes, multi-resolution.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Computer Vision, Visualization and Computer Graphics
;
Early Vision and Image Representation
;
Image and Video Analysis
;
Image Formation and Preprocessing
;
Image Registration
;
Motion, Tracking and Stereo Vision
;
Multi-View Geometry
Abstract:
One basic capability of interactive and mobile systems to cope with unknown situations and environments is
active, sequence-based visual scene analysis. Image sequences provide static as well as dynamic and also 2D
as well as 3D information about a certain scene. However, at the same time they require efficient mechanisms
to handle their large data volumes. In this paper we introduce a new concept of a visual scene memory for interactive mobile systems that supports these systems with a space- and time-efficient data structure for representing iconic information. The memory is based on a new kind of mosaic images called multi-mosaics and allows to efficiently store and process sequences of stationary rotating and zooming cameras. Its main key features are polytopial reference coordinate frames and an online data processing strategy. The polytopes provide euclidean coordinates and thus allow the application of standard image analysis algorithms directly to the data yielding easy ac
cess and analysis, while online data processing preserves system interactivity. Additionally, mechanisms are included to properly handle multi-resolution data and to deal with dynamic scenes. The concept has been implemented in terms of an integrated system that can easily be included as an additional module in the architecture of interactive and mobile systems. As one prototypical example for possible fields of application the integration of the memory into the architecture of an interactive multi-modal robot is discussed emphasizing the practical relevancy of the new concept.
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