Vision and navigation for the Carnegie-Mellon navlab
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special Issue on Industrial Machine Vision and Computer Vision Technology:8MPart
Active vision based on space-variant sensing
The fifth international symposium on Robotics research
Artificial Intelligence
Recursive 3-D Road and Relative Ego-State Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
On the relative complexity of active vs. passive visual search
International Journal of Computer Vision
Promising directions in active vision
International Journal of Computer Vision
The role of fixation in visual motion analysis
International Journal of Computer Vision
Active vision for reliable ranging: cooperating focus, stereo, and vergence
International Journal of Computer Vision
Recovering shape by purposive viewpoint adjustment
International Journal of Computer Vision - Special issue on active vision II
Planning multiple observations for object recognition
International Journal of Computer Vision - Special issue on active vision II
Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
On Active Camera Control and Camera Motion Recovery with Foveate Wavelet Transform
IEEE Transactions on Pattern Analysis and Machine Intelligence
Foveate Wavelet Transform for Camera Motion Recovery from Videos
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 2 - Volume 2
A review of log-polar imaging for visual perception in robotics
Robotics and Autonomous Systems
Spiral topologies for biometric recognition
ASB'03 Proceedings of the 1st international conference on Advanced Studies in Biometrics
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The Reciprocal-Wedge Transform (RWT) is presented as an alternative to the log-polar transform which has been a popular model for space-variant sensing in computer vision. The log-polar transform provides efficient data reduction. It simplifies the centric rotational and scaling image transformations. However, it adversely complicates the linear features and translational transformations. The RWT facilitates an anisotropic variable resolution. Unlike the log-polar, its variable resolution is predominantly in one dimension. Consequently, the RWT preserves linearity of lines and translations in the original image. In this paper, a concise matrix representation of the RWT is presented. Its properties in geometrical transformations and data reduction are described. A projective model for the transform and a potential hardware RWT camera design are also illustrated.As examples of initial applications, the RWT is used for finding road directions in navigation, and for recovering depth in motion stereo. Two types of motion stereo are presented, namely the longitudinal and lateral motion stereo. In all cases, the RWT images offer much reduced and adequate data owing to the variable resolution. In road navigation, perspective distortion of the road image is readily corrected by the variable resolution of the RWT. In cases of the motion stereo, the correspondence problem in the RWT domain is reduced to a simpler problem of extracting collinear points in the epipolar plane. Preliminary experimental results from test images of road-vehicle navigation and moving objects on a miniature assembly line are demonstrated.