An Optimization Approach for Translational Motion Estimation in Log-Polar Domain

  • V. Javier Traver
  • Filiberto Pla
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2124)


Log-polar imaging is an important topic in space-variant active vision, and facilitates some visual tasks. Translation estimation, though essential for active tracking, is more difficult in (log-)polar coordinates. We propose here a novel, conceptually simple, effective, and efficient method for translational motion estimation. It is based on a gradient-based minimization procedure. Experimental results with log-polar images using a software-based log-polar remmapper are presented.


motion estimation log-polar domain 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Ahrns, I., Neumann, H.: Real-time monocular fixation control using the log-polar transformation and a confidence-based similarity measure. In: Jain, A.K., Venkatesh, S., Lovell, B.C. (eds.): Intl. Conf. on Pattern Recognition (ICPR). Brisbane, Australia (Aug. 1998) 310–315Google Scholar
  2. 2.
    Barnes, N., Sandini, G.: Direction control for an active docking behavior based on the rotational component of log-polar optic flow. In: Tsai, W.-H., Lee, H.-J. (eds): European Conf. on Computer Vision, vol. 2. Dublin, Ireland (Jun 2000) 167–181Google Scholar
  3. 3.
    Bernardino, A., Santos-Victor, J.: Visual behaviors for binocular tracking. Robotics and Autonomous Systems 25 (1998) 137–146CrossRefGoogle Scholar
  4. 4.
    Bolduc, M., Levine, M.D.: A review of biologically motivated space-variant data reduction models for robotic vision. Computer Vision and Image Understanding (CVIU) 69(2) (Feb 1998) 170–184Google Scholar
  5. 5.
    Capurro, C., Panerai, F., Sandini, G.: Dynamic vergence using log-polar images. Intl. Journal of Computer Vision 24(1) (1997) 79–94CrossRefGoogle Scholar
  6. 6.
    Brown, L.G.: A survey of image registration techniques. ACM Computing Surveys 24(4) (Dec 1992) 325–376Google Scholar
  7. 7.
    Jurie, F.: A new log-polar mapping for space variant imaging. Application to face detection and tracking. Pattern Recognition 32 (1999) 865–875Google Scholar
  8. 8.
    Okajima, N., Nitta, H., Mitsuhashi, W.: Motion estimation and target tracking in the log-polar geometry. 17th Sensor Symposium. Kawasaki, Japan (May 2000) Scholar
  9. 9.
    Tistarelli, M., Sandini, G.: On the advantages of polar and log-polar mapping for direct estimation of time-to-impact from optical flow. IEEE Trans. on Pattern Analysis and Machine Intelligence (PAMI ) 15 (1993) 401–410CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • V. Javier Traver
    • 1
  • Filiberto Pla
    • 1
  1. 1.Dept. Llenguatges i Sistemes InformàticsUniversitat Jaume ICastellóSpain

Personalised recommendations