Log-Polar Stereo for Anthropomorphic Robots

  • Enrico Grosso
  • Massimo Tistarelli
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1842)


Stereoscopic vision has a fundamental role both for animals and humans. Nonetheless, in the computer vision literature there is limited reference to biological models related to stereoscopic vision and, in particular, to the functional properties and the organization of binocular information within the visual cortex.

In this paper a simple stereo technique, based on a space variant mapping of the image data and a multi-layered cortical stereoscopic representation, mimicking the neural organization of the early stages of the human visual system, is proposed. Radial disparity computed from a stereo pair is used to map the relative depth with respect to the fixation point. A set of experiments demonstrating the applicability of the devised techniques is also presented.


Human Visual System Stereo Image Stereo Match Cortical Representation Stereoscopic Vision 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


  1. 1.
    S. Grossberg and N.P. McLoughlin, “Cortical dynamics of three-dimensional surface perception: binocular and half-occluded scenic images,” Neural Network, Vol. 10, Num. 9, pp. 1583–1605, 1997.CrossRefGoogle Scholar
  2. 2.
    F.L. Lim and G.A.W. West and S. Venkatesh, “Use of log-polar space for foveation and feature recognition,” IEE Proceedings-Vision, image and Signal Processing, Vol. 144, Num. 6, pp. 323–331, 1997.CrossRefGoogle Scholar
  3. 3.
    Ming Xu, T. Akatsuka, “Detecting head pose from stereo image sequence for active face recognition,” Proceedings Third IEEE International Conference on Automatic Face and Gesture Recognition, Nara, Japan 1998.Google Scholar
  4. 4.
    D. H. Hubel, “Eye, Brain, and Vision,” Scientific American Library, 1988.Google Scholar
  5. 5.
    C.F.R. Weiman and G. Chaikin, “Logarithmic Spiral Grids for Image Processing and Display,” Comp. Graphic and Image Processing, Vol. 11, pp. 197–226, 1979.CrossRefGoogle Scholar
  6. 6.
    E. Grosso and M. Tistarelli, “Active/Dynamic Stereo Vision,” IEEE Trans. on PAMI, Vol. 17, Num. 9, pp. 868–889, 1995.Google Scholar
  7. 7.
    M. Xie and C.M. Lee and Z.Q. Li and S.D. Ma, “Depth assessment by using qualitative stereo-vision,” 1997 IEEE International conference on intelligent processing System, Beijing, China, 1997.Google Scholar
  8. 8.
    G. Sandini and V. Tagliasco, “An Anthropomorphic Retina-like Structure for Scene Analysis,” CGIP, Vol. 14, Num. 3, pp. 365–372, 1980.Google Scholar
  9. 9.
    C. Capurro, F. Panerai and G. Sandini, “Vergence and tracking fusing log-polar images,” Proceedings of the 13th International Conference on Pattern Recognition, Wien, Austria 1996.Google Scholar
  10. 10.
    C. F. R. Weiman, “Binocular stereo via log-polar retinas,” Proceedings of the SPIE-the International Society for Optical Engineering, Vol 2488, pp. 309–320, 1995.Google Scholar
  11. 11.
    N. Oshiro and A. Nishikawa and N. Maru and F. Miyazaki, “Binocular tracking based on retino-cortical mapping,” Transactions of the Institute of Systems, Control and information Engineers, Vol. 10, Num. 6, pp. 287–296, 1997.Google Scholar
  12. 12.
    C. Braccini and G. Gambardella and G. Sandini and V. Tagliasco, “dA Model of the Early Stages of the Human Visual System: Functional and Topological Transformation Performed in the Peripheral Visual Field,” Biol. Cybern., Vol. 44, pp. 47–58, 1982.zbMATHCrossRefGoogle Scholar
  13. 13.
    M. Tistarelli and G. Sandini, “On the Advantages of Polar and Log-Polar Mapping for Direct Estimations of Time-to-Impact from Optical Flow,” IEEE Transaction on Pattern Analysis and Machine Intelligence, Vol. 15, Num. 4, 1993.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • Enrico Grosso
    • 1
  • Massimo Tistarelli
    • 1
  1. 1.Computer Vision LaboratoryDIST - University of GenoaGenoaItaly

Personalised recommendations