robotic vision with the conformal camera modeling perisaccadic perception机器人视觉与保角相机建模perisaccadic知觉.pdf

Hindawi Publishing Corporation Journal of Robotics Volume 2010, Article ID 130285, 16 pages doi:10.1155/2010/130285 Research Article Robotic Vision with the Conformal Camera: Modeling Perisaccadic Perception Jacek Turski Department of Computer and Mathematical Sciences, University of Houston-Downtown, One Main Street, Houston, TX 77002, USA Correspondence should be addressed to Jacek Turski, turskij@ Received 21 September 2009; Revised 17 January 2010; Accepted 8 February 2010 Academic Editor: Noriyasu Homma Copyright © 2010 Jacek Turski. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Humans make about 3 saccades per second at the eyeball’s speed of 700 deg/sec to reposition the high-acuity fovea on the targets of interest to build up understanding of a scene. The brain’s visuosaccadic circuitry uses the oculomotor command of each impending saccade to shift receptive fields (RFs) to cortical locations before the eyes take them there, giving a continuous and stable view of the world. We have developed a model for image representation based on projective Fourier transform (PFT) intended for robotic vision, which may efficiently process visual information during the motion of a camera with silicon retina that resembles saccadic eye movements. Here, the related neuroscience background is presented, effectiveness of the conformal camera’s non-Euclidean geometry in intermediate-level vision is discussed, and the algorithmic steps in modeling perisaccadic perception with PFT are proposed. Our modeling utilizes basic properties of PFT. First, PFT is computable by FFT in complex logarithmic coordinates that also approx