Foveated active tracking with redundant 2D motion parameters

This work presents a real-time active vision tracking system based on log-polar image motion estimation with 2D geometric deformation models. We present a very efficient parametric motion estimation method, where most computation can be done offline. We propose a redundant parameterization for the geometric deformations, which improve the convergence range of the algorithm. A foveated image representation provides extra computational savings and attenuation of background effects. A proper choice of motion models and a hierarchical organization of the iterations provide additional robustness. We present a fully integrated system with real-time performance and robustness to moderate deviations from the assumed deformation models.

• Type: Journal
• Year: 2002
• Where: RAS
• Authors: Alexandre Bernardino, José Santos-Victor, Giulio Sandini
• Keywords: Deformation Models, Geometric Deformation Models, Geometric Deformations, RAS 2002