Human saccadic eye movements and tracking by active foveation in log polar space

One of the possible models of the human visual system (HVS) in the computer vision literature has a high resolution fovea and exponentially decreasing resolution periphery. The high resolution fovea is used to extract necessary information in order to solve a vision task and the periphery may be used to detect motion. To obtain the desired information, the fovea is guided by the contents of the scene and other knowledge to position the fovea over areas of interest. These eye movements are called saccades and corrective saccades. A two stage process has been implemented as a mechanism for changing foveation in log polar space. Initially, the open loop stage roughly foveates on the best interest feature and then the closed loop stage is invoked to accurately iteratively converge onto the foveation point. The open loop stage developed for the foveation algorithm is applied to saccadic eye movements and a tracking system. Log polar space is preferred over Cartesian space as: (1) it simultaneously provides high resolution and a wide viewing angle; and (2) feature invariance occurs in the fovea which simplifies the foveation process.

An investigation into the use of physical modelling for the prediction of various feature types visible from different view points

This paper describes a general purpose flexible technique which uses physical modelling techniques for determining the features of a 3D object that are visible from any predefined view. Physical modelling techniques are used to determine which of many different types of features are visible from a complete set of viewpoints. The power of this technique lies in its ability to detect and parameterise object features, regardless of object complexity. Raytracing is used to simulate the physical process by which object features are visible so that surface properties (eg specularity, transparency) as well as object boundaries can be used in the recognition process. Using this technique occluding and non-occluding edge based features are extracted using image processing techniques and then parameterised. Features caused by specularity are also extracted and qualitative descriptions for these are defined.

Resolution considerations in spatially variant sensors

Log polar transformations for space variant systems have been proposed and used in active vision research. The idea is to generate an image with a varying resolution over a wide angle field of view. The fovea is of high resolution and the periphery is of exponentially reduced resolution. The justifications for such a sensor are: (i) it provides high resolution and a wide viewing angle, (ii) feature invariance in the fovea simplifies foveation, and (iii) it allows multiresolution analysis. The receptor density of the human retina is very high, i.e. of the order of 106 receptors at the fovea. The question is, what resolution should space variant active vision systems have? Real visual sensors have been implemented but is the resolution produced high enough? This paper investigates the resolution requirements of a space variant sensor by simulation for a tracking system using raytracing

Tracking in a space variant active vision system

Without the ability to foveate on and maintain foveation, active vision for applications such as surveillance, object recognition and object tracking are difficult to build. Although foveation in cartesian coordinates is being actively pursued by many, multi-resolution high accuracy foveation in log polar space has not been given much attention. This paper addresses the use of foveation to track a single object as well as multiple objects for a simulated space variant active vision system. Complex logarithmic mapping is chosen firstly because it provides high resolution and wide angle viewing. Secondly, the spatially variant structure of log polar space leads to an object increasing in size as it moves towards the fovea. This is important as we know which object is closer to the fovea at any instant in time.