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Fractal Representation of Image Feature Associated with Maneuvering Affordance1 Kohji Kamejima Faculty of Engineering, Osaka Institute of Technology 5-16-1 Omiya, Asahi, Osaka 535-8585 JAPAN Phone: +81(Japan)-6-6954-4330 Fax: +81(Japan)-6-6952-6197 e-mail: kamejima@dim.oit.ac.jp Abstract: A detection scheme is presented for maneuvering affordance in noisy imagery. By introducing a mental maneuvering process within an intentional coordinate system, image features are assumed to be represented in terms of directional Fourier images. The detectability of affordance patterns has been verified through experimental studies. Keywords: Maneuvering Affordance; Directional Fourier Image; Environment Features; Noise Level Estimation; Fractal Pattern Detection Table of Contents 1 Introductory Remarks 2 2 Evoked Mental Dynamics Model 3 3 Directional Fourier Imaging 4 4 Fractal Feature Representation 5 5 2D Gaussian Sampling 5 6 Self-Similarity Analysis 6 7 Experiments 8 8 Concluding Remarks 10 111th IEEE International Workshop on Robot and Human Interactive Communication (RoMan02), September 25–27, 2002, Berlin, Germany 1 Fractal Representation of Image Feature Associated with Maneuvering Affordance 2 Figure 1: Shopping Street of Complex Texture Maneuverable area of complex appearances is observed with many “distracting” objects. To concentrate on maneuvering, perception channels are required to generate symbols of unpredictable maneuvering affordance in “background noise” [8]. 1 Introductory Remarks One of the essential capabilities of ‘real world intelligence’, whether developed naturally or designed ar- tificially, is to generate feasible operations based on innate belief in real world. As cognitive basis of the real world intelligence, visual perception organizes randomly distributed image features into envi- ronment features: well structured visibles available as consistent cues to subsequent decisions. Such phenomenal supervenience to reality plays a crucial role in implem