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JRM Vol.21 No.1 pp. 128-134
doi: 10.20965/jrm.2009.p0128
(2009)

Paper:

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Eccentricity Estimator for Wide-Angle Fovea Vision Sensor

Sota Shimizu* and Joel W. Burdick**

*California Institute of Technology, Division of Biology, MC 139-74, Pasadena, CA 91125, USAWaseda University, Advanced Research Institute for Science and Engineering, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan

**California Institute of Technology, Department of Bioengineering

Received:
October 6, 2008
Accepted:
October 6, 2008
Published:
February 20, 2009
Creative Commons License
Keywords:
fovea sensor, space-variant image, Fourier transform, wavelet transform, image processing
Abstract
This paper proposes a method for estimating the eccentricity that corresponds to the incident angle to a fovea sensor. The proposed method uses the Fourier-Mellin Invariant descriptor to estimate rotation, scale, and translation, by taking both geometrical distortion and non-uniform resolution of a space-variant image from the fovea sensor into account. The following 2 points are focused on in this paper. One is to use multi-resolution images by Discrete Wavelet Transform to properly reduce noise caused by foveation. Another is to use a variable window function (although the window function is generally used for reducing DFT leakage caused by both ends of a signal) to change the effective field of view (FOV) so as not to sacrifice high accuracy. The simulation compares the root mean square (RMS) of the foveation noise between uniform and non-uniform resolutions when a resolution level and a FOV level are changed, respectively. The result shows the proposed method is suitable for the wide-angle space-variant image from the fovea sensor, and, moreover, it does not sacrifice the high accuracy in the central FOV. Another simulation is done to determine a reliable resolution level.

This paper is the full translation from the transactions of JSME Vol.74, No.744.
Cite this article as:
S. Shimizu and J. Burdick, “Eccentricity Estimator for Wide-Angle Fovea Vision Sensor,” J. Robot. Mechatron., Vol.21 No.1, pp. 128-134, 2009.
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