Computation of 3D-motion parameters using the log-polar transform

  • Konstantinos Daniilidis
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 970)


Arificial vision systems for mobile robots necessitate sensors and representations that enable a real-time reactive behavior. The log-polar transform has been shown to be a variable resolution scheme that achieves a high compression of the non-foveal part of an image. Such space variant sensors must inevitably be active in order to utilize the high- and homogeneous resolution fovea. We study here the computation of the heading direction using a log-polar sensor able to fixate. The polar nature of the complex logarithmic mapping produces a computationally superior representation of the optical flow. Based on an insight for the translational case we present a new algorithm for computing the focus of expansion by applying fixation in case of general motion.


Optical Flow Motion Field Translation Direction Angular Component Cartesian Plane 
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.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • Konstantinos Daniilidis
    • 1
  1. 1.Computer Science InstituteChristian-Albrechts University KielKielGermany

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