Abstract
Foveated image sensors have a variable spatial resolution enabling a significant reduction in image size and data volume. In this work, the requirements for a foveated sensor within an active vision system are analysed. Based on these requirements, the constraints on the resolution mapping function are determined, and a range of Cartesian based mapping schemes investigated. The results demonstrate that separable mappings, which independently map two orthogonal dimensions are efficient to implement using an FPGA. The computational requirements for an L2 or Euclidean radial mapping are significantly higher, although this yields more natural looking low-resolution images. A compromise is based on using an Lāāā radial mapping. The requirement to process data as it is streamed from the camera necessitates implementing the warping using a forward mapping rather than the more common reverse mapping. The implications of this for FPGA implementation are described.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Altera, Stratix IV Device Handbook, vol. SIV5V1-2.0. Altera Corporation (2008)
Arribas, P.C., MaciĆ”, F.M.H.: FPGA implementation of a log-polar algorithm for real time applications. In: Conference on Design of Circuits and Integrated Systems, Mallorca, Spain, pp. 63ā68 (1999)
Bailey, D.G.: Space efficient division on FPGAs. In: Electronics New Zealand Conference (EnzCon 2006), Christchurch, New Zealand, pp. 206ā211 (2006)
Bailey, D.G., Bouganis, C.S.: Reconfigurable foveated active vision system. In: International Conference on Sensing Technology, Tainan, Taiwan, pp. 162ā169 (2008)
Bailey, D.G., Bouganis, C.S.: Tracking performance of a foveated vision system. In: International Conference on Autonomous Robots and Agents (ICARA 2009), Wellington, New Zealand, pp. 414ā419 (2009)
Bandera, C., Scott, P.D.: Foveal machine vision systems. In: IEEE International Conference on Systems, Man and Cybernetics, Cambridge, Massachusetts, USA, vol.Ā 2, pp. 596ā599 (1989)
Bayer, B.E.: Colour filter array. United States of America patent 3971065 (1976)
Camacho, P., Arrebola, F., Sadoval, F.: Shifted fovea multiresolution geometries. In: International Conference on Image Processing, Lausanne, Switzerland, vol.Ā 1, pp. 307ā310 (1996)
Camacho, P., Arrebola, F., Sadoval, F.: Multiresolution sensors with adaptive structure. In: 24th Annual Conference of the IEEE Industrial Electronics Society (IECON 1998), Aachen, Germany, vol.Ā 2, pp. 1230ā1235 (1998)
Catmull, E., Smith, A.R.: 3-D transformations of images in scaline order. ACM SIGGRAPH Computer GraphicsĀ 14(3), 279ā285 (1980)
Cui, Y., Samarasekera, S., Huang, Q., Greiffenhagen, M.: Indoor monitoring via the collaboration between a peripheral sensor and a foveal sensor. In: 1998 IEEE Workshop on Visual Surveillance, Bombay, India, pp. 2ā9 (1998)
Gribbon, K.T., Johnston, C.T., Bailey, D.G.: A real-time FPGA implementation of a barrel distortion correction algorithm with bilinear interpolation. In: Image and Vision Computing New Zealand 2003, Palmerston North, New Zealand, pp. 408ā413 (2003)
Hsia, S.C.: Fast high-quality color-filter-array interpolation method for digital camera systems. Journal of Electronic ImagingĀ 13(1), 244ā247 (2004)
Hua, H., Liu, S.: Dual-sensor foveated imaging system. Applied OpticsĀ 47(3), 317ā327 (2008)
Itti, L., Koch, C., Niebur, E.: A model of saliency-based visual attention for rapid scene analysis. IEEE Transactions on Pattern Analysis and Machine IntelligenceĀ 20(11), 1254ā1259 (1998)
Kuniyoshi, Y., Kita, N., Sugimoto, K., Nakamura, S., Suehiro, T.: A foveated wide angle lens for active vision. In: IEEE International Conference on Robotics and Automation, Nagoya, Japan, vol.Ā 3, pp. 2982ā2988 (1995)
Liu, Y., Bouganis, C.S., Cheung, P.Y.K.: A spatio-temporal saliency framework. In: IEEE International Conference on Image Processing, Atlanta, Georgia, USA, pp. 437ā440 (2006)
Martinez, J., Altamirano, L.: FPGA-based pipeline architecture to transform cartesian images into foveal images by using a new foveation approach. In: IEEE International Conference on Reconfigurable Computing and FPGAās, San Luis Potosi, Mexico, pp. 1ā10 (2006)
Ovod, V.I., Baxter, C.R., Massie, M.A., McCarley, P.L.: Advanced image processing package for FPGA-based re-programmable miniature electronics. In: Infrared Technology and Applications XXXI, Orlando, Florida, USA. SPIE, vol.Ā 5783, pp. 304ā315 (2005)
Schulte, M.J., Stine, J.E.: Symmetric bipartite tables for accurate function approximation. In: 13th IEEE Symposium on Computer Arithmetic, Asilomar, California, USA, pp. 175ā183 (1997)
Traver, V.J., Pla, F.: Designing the lattice for log-polar images. In: Nystrƶm, I., Sanniti di Baja, G., Svensson, S. (eds.) DGCI 2003. LNCS, vol.Ā 2886, pp. 164ā173. Springer, Heidelberg (2003)
Vogelstein, R.J., Mallik, U., Culurciello, E., Etienne-Cummings, R., Cauwenberghs, G.: Spatial acuity modulation of an address-event imager. In: 11th IEEE International Conference on Electronics, Circuits and Systems (ICECS 2004), Tel-Aviv, Israel, pp. 207ā210 (2004)
Wang, Z., Bovik, A.C.: Embedded foveation image coding. IEEE Transactions on Image ProcessingĀ 10(10), 1397ā1410 (2001)
Wilson, J.C., Hodgson, R.M.: A pattern recognition system based on models of aspects of the human visual system. In: International Conference on Image Processing and its Applications, Maastricht, Netherlands, pp. 258ā261 (1992a)
Wilson, J.C., Hodgson, R.M.: Log-polar mapping applied to pattern representation and recognition. In: Computer Vision and Image Processing, pp. 245ā277. Academic Press, London (1992b)
Wolberg, G.: Digital image warping. IEEE Computer Society Press, Los Alamitos (1990)
Xilinx, Virtex-5 FPGA User Guide, vol. UG190 (v4.4). Xilinx Inc. (2008)
Xue, Y., Morrell, D.: Adaptive foveal sensor for target tracking. In: Thirty-Sixth Asilomar Conference on Signals, Systems and Computers, Pacific Grove, California, USA, vol.Ā 1, pp. 848ā852 (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
Ā© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Bailey, D.G., Bouganis, CS. (2009). Vision Sensor with an Active Digital Fovea. In: Mukhopadhyay, S.C., Gupta, G.S., Huang, R.YM. (eds) Recent Advances in Sensing Technology. Lecture Notes in Electrical Engineering, vol 49. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00578-7_6
Download citation
DOI: https://doi.org/10.1007/978-3-642-00578-7_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00577-0
Online ISBN: 978-3-642-00578-7
eBook Packages: EngineeringEngineering (R0)