Eccentricity compensator for log-polar sensor

Sota Shimizu, Joel W. Burdick

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


This paper aims at acquiring robust rotation, scale, and translation-invariant feature from a space-variant image by a fovea sensor. A proposed model of eccentricity compensator corrects deformation that occurs in a log-polar image when the fovea sensor is not centered at a target, that is, when eccentricity exists. An image simulator in discrete space remaps a compensated log-polar image using this model. This paper proposes Unreliable Feature Omission (UFO) that reduces local high frequency noise in the space-variant image using Discrete Wavelet Transform. It discards coefficients when they are regarded as unreliable based on digitized errors of the input image. The first simulation mainly tests geometric performance of the compensator, in case without noise. This result shows the compensator performs well and its root mean square error (RMSE) changes only by up to 2.54[%] in condition of eccentricity within 34.08[°]. The second simulation applies UFO to the log-polar image remapped by the compensator, taking its space-variant resolution into account. The result draws a conclusion that UFO performs better in case with more white Gaussian noise (WGN), even if the resolution of the compensated log-polar image is not isotropic.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Number of pages6
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2007 IEEE International Conference on Robotics and Automation, ICRA'07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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