A hierarchical vision system, inspired by the functional architecture of the cortical motion pathway, to provide motion interpretation and to guide real-time actions in the real-world, is proposed. Such a neuromimetic architecture exploits (i) log-polar mapping for data reduction, (ii) a population of motion energy neurons to compute the optic flow, and (iii) a population of adaptive templates in the cortical domain to gain the flow's affine description. The time-to-contact and the surface orientations of points of interest in the real-world are computed by directly combining the linear description of the cortical flow. The approach is validated through quantitative tests in synthetic environments, and in real-world automotive and robotics situations.

An integrated neuromimetic architecture for direct motion interpretation in the log-polar domain

SOLARI, FABIO;CHESSA, MANUELA;SABATINI, SILVIO PAOLO
2014

Abstract

A hierarchical vision system, inspired by the functional architecture of the cortical motion pathway, to provide motion interpretation and to guide real-time actions in the real-world, is proposed. Such a neuromimetic architecture exploits (i) log-polar mapping for data reduction, (ii) a population of motion energy neurons to compute the optic flow, and (iii) a population of adaptive templates in the cortical domain to gain the flow's affine description. The time-to-contact and the surface orientations of points of interest in the real-world are computed by directly combining the linear description of the cortical flow. The approach is validated through quantitative tests in synthetic environments, and in real-world automotive and robotics situations.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11567/691395
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