Fourier Signature in Log-Polar Images

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



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 Harvard Style

Gasperin A., Ardito C., Grisan E. and Menegatti E. (2007). Fourier Signature in Log-Polar Images . In Robot Vision - Volume 1: Robot Vision, (VISAPP 2007) ISBN 978-972-8865-76-4, pages 87-96. DOI: 10.5220/0002070100870096

in Bibtex Style

@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 - Volume 1: Robot Vision, (VISAPP 2007)},

in EndNote Style

JO - Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)
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