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Machine Vision and Applications

, Volume 10, Issue 1, pp 1–8 | Cite as

Retina-like visual sensor for fast tracking and navigation robots

  • Cheon W. Shin
  • Seiji Inokuchi
  • Kwang I. Kim

Abstract.

This paper describes the development of an anthropomorphic visual sensor which generates a spatially variant resolution image by using a retina-like structure. This sensor consists of a dove prism for image rotation and two linear CCD sensors with 512 pixel/line resolution and holds approximately 45 kbytes of image data. The retina-like sensor has variable resolution with increasing density towards the center of the visual field and yields a polar-coordinate image directly. The motion analysis of the object in the scene from the optical flow is considerably simplified if the velocity is represented in polar coordinates, compared to the case when the image is represented in cartesian coordinates. A calibration procedure for the proposed retina-like sensor is also presented with experimental data to verify the validity of the system. Development of this sensor holds promise in applications to high-speed tracking systems, such as the eyes of navigation robots, because it has data reduction and polar mapping characteristics.

Key words: Anthropomorphic retina-like visual sensor – Dove prism – Linear CCD sensor – Eccentricity – Space variant resolution 

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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • Cheon W. Shin
    • 1
  • Seiji Inokuchi
    • 2
  • Kwang I. Kim
    • 3
  1. 1. Department of Information Engineering, Tongmyong University of Information Technology, Pusan, Republic of Korea 608-080KR
  2. 2. Department of Systems Engineering, Osaka University, 1-3, Machikaneyama, Toyonaka, JAPAN 560JP
  3. 3. Department of Mathematics, Pohang University of Science and Technology, Pohang, Republic of Korea 790-784KR

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