Multi-scale keypoint hierarchy for Focus-of-Attention and object detection

Hypercolumns in area V1 contain frequency- and orientation-selective simple and complex cells for line (bar) and edge coding, plus end-stopped cells for key- point (vertex) detection. A single-scale (single-frequency) mathematical model of single and double end-stopped cells on the basis of Gabor filter responses was developed by Heitger et al. (1992 Vision Research 32 963-981). We developed an improved model by stabilising keypoint detection over neighbouring micro- scales.

Fast line, arc/circle and leg detection from laser scan data in a player driver

A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method sutable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method.