Peripheral Visual Field, Fixation and Direction of Heading
Inigo Thomas, Eero Simoncelli, Ruzena Bajcsy
Published as:
Chapter 7 of "Exploratory Vision: The Active Eye"
Eds: M Landy and L Maloney and M Pavel
Springer-Verlag, New York, 1995
pp. 169-190
Although moving human observers actively fixate their eyes on
points in the world, computer vision algorithms designed for the
estimation of structure-from-motion or egomotion typically
do not make use of this constraint.
In this paper, we investigate the computational advantage of
fixation.
The main contribution of this work is to precisely specify the
form of the optical flow field for a fixating observer moving
in a rigid world. In particular, we show that the use
of a hemispherical (retinal) imaging surface combined with the
active process of fixation generates an optical flow field of
a particularly simple form. A further contribution is the
finding that the sign of retinal flow at the retinal periphery
can be used to predict collisions.
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