Fast computation of multiscalar symmetry in foveated images

Abstract

This paper discusses two components of a Robot Eye intended as an active vision system to be mounted on a mobile robot. The first component is a foveated vision sensor which is based on an overlapping receptive field model for data reduction. We present the adapted scan-line algorithm used to compute so-called retinal images and a description of the implementation of the system on a network of DSP's. The second component computes salient points in the foveated image and is motivated by the biological processes which guide primate gaze fixation. The model of attention and its real-time implementation are described. Experimental results obtained with these algorithms are also presented.